Fuzzy Control Fuzzy Control Fuzzy Sets Design of

Fuzzy Control

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

Fuzzy Logic

Fuzzy Sets Is this sentence true or false?

Probabiltiy vs. Fuzziness Probability describes the uncertainty of an event occurrence. Fuzziness describes event ambiguity. Whether an event occurs is RANDOM. To what degree it occurs is FUZZY.

Probability: There is a 50% chance of an apple being in the refrigerator. Fuzzy: There is a half an apple in the refrigerator.

Fuzzy logic acknowledges and exploits the tolerance for uncertainty and imprecision.

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

A Fuzzy Controller

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

Fuzzy Inference

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

Rules

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

Fuzzy Control • Fuzzy Sets • Design of a Fuzzy Controller – Fuzzification of inputs: get_inputs() – Fuzzy Inference – Processing the Rules: find_rules() – Centroid Defuzzification – Output Defuzzification: find_output() – A Fuzzy Control Example - • Floating Ping-Pong Ball

68 HC 12 JStamp …

Fuzzy k-map for floating ping-pong ball

Implementations • High-level Languages –C – Java • Assembly – Assembly Built-in Fuzzy Control Instructions • HC 12

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)

Designing a Robot (Example)