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 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 therefrigerator.


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


68HC12

JStamp


Fuzzy k-map for floating ping-pong ball


Implementations

  • High-level Languages

    • C

    • Java

  • Assembly

    • Assembly

    • Assembly Built-in Fuzzy Control Instructions

      • HC12


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Designing a Robot (Example)


Designing a Robot (Example)


Designing a Robot (Example)


Designing a Robot (Example)


Designing a Robot (Example)


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