Development of a Generic and Configurable Fuzzy Logic Systems Library for Real-Time Control Applications Using an Object-Oriented Approach

Abel Hailemichael, S. Gebreyohannes, A. Karimoddini, Kaushik Roy, A. Homaifar
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引用次数: 4

Abstract

Since fuzzy logic controllers (FLCs) can handle complex systems without knowing much about the systems' mathematical model, they are widely used for a range of robotic control applications. Further, the ability of FLCs (particularly, type-2 FLCs) to effectively capture and accommodate uncertainties has made them one of the suitable choices for implementing robotic control applications in uncertain environments. However, developing type-1 and type-2 FLCs for real-time robotic control applications is relatively more challenging than developing traditional controllers such as PID controllers. The reason is, the fuzzy logic calculations involved are more complex and not much tools have been developed to assist FLC application developers. In this paper, therefore, using an object-oriented approach and unified model language (UML), we demonstrate a systematic approach for developing a new generic and configurable fuzzy logic system (FLS) library that eases the implementation of real-time type-1 and interval type-2 FLC applications based on both Mamdani and Takagi-Sugeno-Kang (TSK) inference mechanisms. To evaluate the developed library, we have implemented it for the interval type-2 TSK fuzzy logic altitude control of a quadcopter unmanned aerial vehicle (UAV). The response of this fuzzy logic controller is then compared with the response of a classical PD controller.
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基于面向对象方法的实时控制应用通用可配置模糊系统库的开发
由于模糊逻辑控制器(flc)可以在不了解系统数学模型的情况下处理复杂系统,因此它们被广泛应用于一系列机器人控制应用。此外,flc(特别是2型flc)有效捕获和适应不确定性的能力使其成为在不确定环境中实现机器人控制应用的合适选择之一。然而,开发用于实时机器人控制应用的1型和2型flc比开发传统控制器(如PID控制器)更具挑战性。原因是,所涉及的模糊逻辑计算更复杂,并且没有开发出太多工具来帮助FLC应用程序开发人员。因此,本文采用面向对象的方法和统一模型语言(UML),展示了一种系统的方法来开发一个新的通用和可配置模糊逻辑系统(FLS)库,该库简化了基于Mamdani和Takagi-Sugeno-Kang (TSK)推理机制的实时类型1和间隔类型2的FLC应用程序的实现。为了对所开发的库进行评价,我们将其应用于四轴飞行器的区间2型TSK模糊逻辑高度控制。然后将该模糊控制器的响应与经典PD控制器的响应进行了比较。
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