CSE-435:

Dr. Hector Munoz-Avila A Presentation on

Fuzzy Logic
Presented by

Osama Ahmed Khan

OVERVIEW

BACKGROUND INTRODUCTION DEMOS APPROACH APPLICATION

BACKGROUND

Professor Lotfi Zadeh, UC Berkeley, 1965 People do not require precise, numerical information input, and yet they are capable of highly adaptive control. Accepts noisy, imprecise input!

History, State of the Art, and Future Development

1965 Seminal Paper Fuzzy Logic by Prof. Lotfi Zadeh, Faculty in Electrical Engineering, U.C. Berkeley, Sets the Foundation of the Fuzzy Set Theory
First Application of Fuzzy Logic in Control Engineering (Europe)

1970

1975
1980 1985 1990 Today, Fuzzy Logic Has Already Become the Standard Technique for Multi-Variable Control !
INFORM 1990-1998

Introduction of Fuzzy Logic in Japan

Empirical Verification of Fuzzy Logic in Europe Broad Application of Fuzzy Logic in Japan Broad Application of Fuzzy Logic in Europe Broad Application of Fuzzy Logic in the U.S. Fuzzy Logic Becomes a Standard Technology and Is Also Applied in Data and Sensor Signal Analysis. Application of Fuzzy Logic in Business and Finance.
Slide 4

1995 2000

Types of Uncertainty and the Modeling of Uncertainty

Stochastic Uncertainty: The Probability of Hitting the Target Is 0.8

Lexical Uncertainty: "Tall Men", "Hot Days", or "Stable Currencies" We Will Probably Have a Successful Business Year. The Experience of Expert A Shows That B Is Likely to Occur. However, Expert C Is Convinced This Is Not True.

Most Words and Evaluations We Use in Our Daily Reasoning Are Not Clearly Defined in a Mathematical Manner. This Allows Humans to Reason on an Abstract Level!
INFORM 1990-1998 Slide 5

Probability and Uncertainty

... a person suffering from hepatitis shows in 60% of all cases a strong fever, in 45% of all cases yellowish colored skin, and in 30% of all cases suffers from nausea ...

Stochastics and Fuzzy Logic Complement Each Other !

INFORM 1990-1998

Slide 6

Fuzzy Set Theory

Conventional (Boolean) Set Theory:

38C 40.1C 39.3C 37.2C 42C

Strong Fever

38.7C 41.4C
Fuzzy Set Theory:

38C 40.1C 39.3C 42C

Strong Fever

38.7C

41.4C

More-or-Less Rather Than Either-Or !

INFORM 1990-1998

37.2C
Slide 7

Fuzzy Set Definitions

Discrete Definition: SF(35C) = 0 SF(36C) = 0 SF(38C) = 0.1 SF(39C) = 0.35 SF(41C) = 0.9 SF(42C) = 1

SF(37C) = 0 SF(40C) = 0.65 Continuous Definition: (x)

1

SF(43C)

No More Artificial Thresholds!

0
36C 37C 38C 39C 40C 41C 42C

INFORM 1990-1998

Slide 8

INTRODUCTION

What is Fuzzy Logic? Problem-solving control system methodology Linguistic or "fuzzy" variables Example: IF (process is too hot) AND (process is heating rapidly) THEN (cool the process quickly)

INTRODUCTION (Contd.)

Advantages Mimicks human control logic Uses imprecise language Inherently robust Fails safely Modified and tweaked easily

INTRODUCTION (Contd.)

Disadvantages Operator's experience required System complexity

DEMOS

Fuzzy Logic Anti-sway Crane Controller

DEMOS (Contd.)

Control of a Flexible Robot

DEMOS (Contd.)

Anti-Swing Control of an Overhead Crane

DEMOS (Contd.)

Robot Skating

DEMOS (Contd.)

Fuzzy Shower

http://ai.iit.nrc.ca/IR_public/fuzzy/fuzzyShower.html

Fuzzy Controller for an Inverted Pendulum

http://www.aptronix.com/fuzzynet/java/pend/pendjava.htm

Prevention of Load Sway by a Fuzzy Controller

http://people.clarkson.edu/~esazonov/neural_fuzzy/loadsway/LoadSway.htm

APPROACH
Preliminary Evaluation
Assessment As to Whether Fuzzy Logic Is Applicable for the Given Application

Problem Analysis Before Project Start !

Evaluation Criteria:

Has Fuzzy Logic Been Previously Applied to a Similar Application With Success? Is It a Multi-Variable Type Control Problem? Do Operators and Engineers Possess Knowledge About Any Relevant Interdependencies of the Process Variables? Can Further Knowledge About the Process Behavior Be Gained By Observation Or Experiments? Is It Difficult to Obtain a Mathematical Model from the Process?

APPROACH (Contd.)

Usage
1. Define the control objectives and criteria What am I trying to control? What do I have to do to control the system? What kind of response do I need? What are the possible (probable) system failure modes? Determine the input and output relationships Choose a minimum number of variables for input to the FL engine Use the rule-based structure of FL Break the control problem down into a series of rules Create FL membership functions Define the meaning (values) of Input/Output terms used in the rules Test, evaluate, tune and retest

2.

3.

4.

5.

APPROACH (Contd.)

The Rule Matrix Error (Columns) Error-dot (Rows) Input conditions (Error and Error-dot) Output Response Conclusion (Intersection of Row and Column)

-ve Error -ve Errordot Zero Errordot +ve Errordot

Zero Error

+ve Error

No change

Rule Matrix

APPLICATION

Simple Proportional Temperature Controller Components An electric heating element Variable-speed cooling fan Functionality Positive signal output: 0-100% heat Negative signal output: 0-100% cooling

APPLICATION (Contd.)

Block Diagram of the Control System

APPLICATION (Contd.)

Working Establish a meaningful system for representing the linguistic variables in the Rule Matrix "N" = "negative" error/ error-dot input level "Z" = "zero" error/ error-dot input level "P" = "positive" error/ error-dot input level "H" = "Heat" output response "-" = "No Change" to current output "C" = "Cool" output response

APPROACH

Usage
1. Define the control objectives and criteria What am I trying to control? What do I have to do to control the system? What kind of response do I need? What are the possible (probable) system failure modes? Determine the input and output relationships Choose a minimum number of variables for input to the FL engine Use the rule-based structure of FL Break the control problem down into a series of rules Create FL membership functions Define the meaning (values) of Input/Output terms used in the rules Test, evaluate, tune and retest

2. 3. 4. 5.

APPLICATION (Contd.)
1. Define the control objectives and criteria What am I trying to control? System temperature

What do I have to do to control the system? Proper balance and control of the functional devices What kind of response do I need? Stable Environment temperature What are the possible (probable) system failure modes? The lack of the No change region

APPLICATION (Contd.)

What is being controlled and how?

Typical control system response

APPROACH

Usage
1. Define the control objectives and criteria What am I trying to control? What do I have to do to control the system? What kind of response do I need? What are the possible (probable) system failure modes? Determine the input and output relationships Choose a minimum number of variables for input to the FL engine Use the rule-based structure of FL Break the control problem down into a series of rules Create FL membership functions Define the meaning (values) of Input/Output terms used in the rules Test, evaluate, tune and retest

2. 3. 4. 5.

APPLICATION (Contd.)
2. Determine the input and output relationships Define the minimum number of possible input product combinations and corresponding output response conclusions
INPUT#1: ("Error", positive (P), zero (Z), negative (N)) INPUT#2: ("Error-dot", positive (P), zero (Z), negative (N)) CONCLUSION: ("Output", Heat (H), No Change (-), Cool (C)) INPUT#1 System Status Error = Command-Feedback P=Too cold, Z=Just right, N=Too hot

INPUT#2 System Status Error-dot = d(Error)/dt P=Getting hotter Z=Not changing N=Getting colder
OUTPUT Conclusion & System Response Output H = Call for heating - = Don't change anything C = Call for cooling

APPROACH

Usage
1. Define the control objectives and criteria What am I trying to control? What do I have to do to control the system? What kind of response do I need? What are the possible (probable) system failure modes? Determine the input and output relationships Choose a minimum number of variables for input to the FL engine Use the rule-based structure of FL Break the control problem down into a series of rules Create FL membership functions Define the meaning (values) of Input/Output terms used in the rules Test, evaluate, tune and retest

2. 3. 4. 5.

APPLICATION (Contd.)
3. Use the rule-based structure of FL

The rule structure

APPROACH

Usage
1. Define the control objectives and criteria What am I trying to control? What do I have to do to control the system? What kind of response do I need? What are the possible (probable) system failure modes? Determine the input and output relationships Choose a minimum number of variables for input to the FL engine Use the rule-based structure of FL Break the control problem down into a series of rules Create FL membership functions Define the meaning (values) of Input/Output terms used in the rules Test, evaluate, tune and retest

2. 3. 4. 5.

APPLICATION (Contd.)
4. Create FL membership functions that define the meaning (values) of Input/Output terms used in the rules

The features of a membership function

APPLICATION (Contd.)

A sample case

APPROACH

Usage
1. Define the control objectives and criteria What am I trying to control? What do I have to do to control the system? What kind of response do I need? What are the possible (probable) system failure modes? Determine the input and output relationships Choose a minimum number of variables for input to the FL engine Use the rule-based structure of FL Break the control problem down into a series of rules Create FL membership functions Define the meaning (values) of Input/Output terms used in the rules Test, evaluate, tune and retest

2. 3. 4. 5.

Thank you Q/A