Fuzzy control
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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.

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Fuzzy Control

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Fuzzy control

Fuzzy Control


Fuzzy control1

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 Logic


Fuzzy sets

Fuzzy Sets

Is this sentence true or false?


Fuzzy control

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.


Fuzzy control

Probability:

There is a 50% chance of an apple

being in the refrigerator.

Fuzzy:There is a half an apple in therefrigerator.


Fuzzy control

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


Fuzzy control2

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

A Fuzzy Controller


Fuzzy control3

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 control4

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 Inference


Fuzzy control5

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

Rules


Fuzzy control6

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 control7

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 control8

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

68HC12

JStamp

…


Fuzzy control

Fuzzy k-map for floating ping-pong ball


Implementations

Implementations

  • High-level Languages

    • C

    • Java

  • Assembly

    • Assembly

    • Assembly Built-in Fuzzy Control Instructions

      • HC12


Designing a robot example

Designing a Robot (Example)


Designing a robot example1

Designing a Robot (Example)


Designing a robot example2

Designing a Robot (Example)


Designing a robot example3

Designing a Robot (Example)


Designing a robot example4

Designing a Robot (Example)


Designing a robot example5

Designing a Robot (Example)


Designing a robot example6

Designing a Robot (Example)


Designing a robot example7

Designing a Robot (Example)


Designing a robot example8

Designing a Robot (Example)


Designing a robot example9

Designing a Robot (Example)


Designing a robot example10

Designing a Robot (Example)


Designing a robot example11

Designing a Robot (Example)


Designing a robot example12

Designing a Robot (Example)


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