Fuzzy Logic Controller

Debasis Samanta

IIT Kharagpur
[email protected]

12.02.2018

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 Applications of Fuzzy Logic

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Fuzzy Systems : Fuzzy Logic Controller

Concept of fuzzy theory can be applied in many applications, such

as fuzzy reasoning, fuzzy clustering, fuzzy programming etc.

Out of all these applications, fuzzy reasoning, also called ”fuzzy

logic controller (FLC)” is an important application.

Fuzzy logic controllers are special expert systems. In general, a

FLC employs a knowledge base expressed in terms of a fuzzy
inference rules and a fuzzy inference engine to solve a problem.

We use FLC where an exact mathematical formulation of the

problem is not possible or very difficult.

These difficulties are due to non-linearities, time-varying nature of

the process, large unpredictable environment disturbances etc.

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Fuzzy Systems : Fuzzy Logic Controller
A general scheme of a fuzzy controller is shown in the following figure.

Fuzzy Controller
Defuzzification actions
module Input

Fuzzy rule Fuzzy inference Process to be

base engine controlled

Output
Fuzzification
module Conditions

Figure 1
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Fuzzy Systems : Fuzzy Logic Controller

A general fuzzy controller consists of four modules:

1 a fuzzy rule base,

2 a fuzzy inference engine,

3 a fuzzification module, and

4 a defuzzification module.

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Fuzzy Systems : Fuzzy Logic Controller
As shown in Figure 1, a fuzzy controller operates by repeating a cycle
of the following four steps :
1 Measurements (inputs) are taken of all variables that represent
relevant condition of controller process.
2 These measurements are converted into appropriate fuzzy sets to
express measurements uncertainties. This step is called
fuzzification.
3 The fuzzified measurements are then used by the inference
engine to evaluate the control rules stroed in the fuzzy rule base.
The result of this evaluation is a fuzzy set (or several fuzzy sets)
defined on the universe of possible actions.
4 This output fuzzy set is then converted into a single (crisp) value
(or a vector of values). This is the final step called defuzzification.
The defuzzified values represent actions to be taken by the fuzzy
contoller.
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Fuzzy Systems : Fuzzy Logic Controller

There are two approaches of FLC known.

1 Mamdani approach

2 Takagi and sugeno’s approach

Mamdani approach follows linguistic fuzzy modeling and

characterized by its high interpretability and low accuracy.
On the other hand, Takagi and Sugeno’s approach follows precise
fuzzy modeling and obtains high accuracy but at the cost of low
interpretabily.
We illustrate the above two approaches with two examples.

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Mamdani approach : Mobile Robot

Consider the control of navigation of a mobile robot in the

presence of a number of moving objects.

To make the problem simple, consider only four moving objects,

each of equal size and moving with the same speed.

A typical scenario is shown in Figure 2.

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Mamdani approach : Mobile Robot

O2

O3

D


O1 O4

R S

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Mamdani approach : Mobile Robot

We consider two parameters : D, the distance from the robot to an

object and θ the angle of motion of an object with respect to the
robot.
The value of these parameters with respect to the most critical
object will decide an output called deviation (δ).

We assume the range of values of D is [0.1, .... 2.2] in meter and θ

is [-90, ... , 0, ... 90] in degree.

After identifying the relevant input and output variables of the

controller and their range of values, the Mamdani approach is to
select some meaningful states called ”linguistic states” for each
variable and express them by appropriate fuzzy sets.

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Linguistic States
For the current example, we consider the following linguistic states for
the three parameters.
Distance is represented using four linguistic states:
1 VN : Very Near
2 NR : Near
3 VF : Very Far
4 FR : Far
Angle (for both angular direction (θ) and deviation (δ)) are represented
using five linguistic states:
1 LT : Left
2 AL : Ahead Left
3 AA: Ahead
4 AR : Ahead Right
5 RT : Right
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Linguistic States
Three different fuzzy sets for the three different parameters are given
below (Figure 3).

D 1.0
VN NR FR VF 1.0

0.0
1.04
0.1 0.8 1.5 2.2

Distance D in mt

 LT AL AA AR RT

1.0 LT AL AA AR RT
1.0

0.0 0.0
-90 -45 0 45 90 -90 90
-45 0 45

Angle ɵ in degree Deviation  in degree

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Fuzzy rule base

Once the fuzzy sets of all parameters are worked out, our next step in
FLC design is to decide fuzzy rule base of the FLC.
The rule base for the FLC of mobile robot is shown in the form of a
table below.

LT AL AA AR RT
 
VN AA AR AL AL AA
NR  AA AA RT AA AA 
 
FR  AA AA AR AA AA 
VF AA AA AA AA AA

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Fuzzy rule base for the mobile robot

Note that this rule base defines 20 rules for all possible instances.
These rules are simple rules and take in the following forms.

Rule 1: If (distance is VN ) and (angle is LT) Then (deviation is AA)

..
.
..
.
Rule 13: If (distance is FR ) and (angle is AA) Then (deviation is
AR)
..
.
..
.
Rule 20: Rule 1: If (distance is VF ) and (angle is RT) Then
(deviation is AA)

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Fuzzification of inputs

The next step is the fuzzification of inputs. Let us consider, at any

instante, the object O3 is critical to the Mobile Robot and distance
D = 1.04 m and angle θ = 30o (see Figure 2).

For this input, we are to decide the deviation δ of the robot as

output.

From the given fuzzy sets and input parameters’ values, we say
that the distance D = 1.04m may be called as either NR (near) or
FR (far).

Similarly, the input angle θ = 30o can be declared as either AA

(ahead) or AR(ahead right).

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Fuzzification of inputs
Hence, we are to determine the membership values corresponding to
these values, which is as follows.
x = 1.04m
µNR (x) = 0.6571
µFR (x) = 0.3429
y = 30o
µAA (y) = 0.3333
µAR (y ) = 0.6667

NR FR AA AR

1.0 1.0

0.0 0.0
0.1 0.8 1.5 2.2 0 45
-45 y
x
1.04 30

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Fuzzification of inputs
x δ1
Hint : Use the principle of similarity. y = δ2

NR FR AA AR

1.0 1.0

0.0 0.0
0.1 0.8 1.5 2.2 0 45
-45 y
x
1.04 30

x 1.5−1.04
Thus, 1 = 1.5−0.8 , that is, x = 0.6571

y
x
1
2

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Rule strength computation

There are many rules in the rule base and all rules may not be
applicable.
For the given x = 1.04 and θ = 30o , only following four rules out of 20
rules are firable.

R1: If (distance is NR) and (angle is AA) Then (deviation is RT)

R2: If (distance is NR) and (angle is AR) Then (deviation is AA)

R3: If (distance is FR) and (angle is AA) Then (deviation is AR)

R4: If (distance is FR) and (angle is AR) Then (deviation is AA)

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Rule strength computation

The strength (also called α values) of the firable rules are calculated as
follows.
α(R1) = min(µNR (x), µAA (y)) = min(0.6571, 0.3333) = 0.3333

α(R2) = min(µNR (x), µAR (y)) = min(0.6571, 0.6667) = 0.6571

α(R3) = min(µFR (x), µAA (y )) = min(0.3429, 0.3333) = 0.3333

α(R4) = min(µFR (x), µAR (y)) = min(0.3429, 0.6667) = 0.3429

In practice, all rules which are above certain threshold value of rule
strngth are selected for the output computation.

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Fuzzy output

The next step is to determine the fuzzified outputs corresponding to

each fired rules.
The working principle of doing this is first discussed and then we
illustrate with the running example.
Suppose, only two fuzzy rules, R1 and R2, for which we are to decide
fuzzy output.
R1: IF (s1 is A1 ) AND (s2 is B1 ) THEN (f is C1 )

R2: IF (s1 is A2 ) AND (s2 is B2 ) THEN (f is C2 )

Suppose, s1∗ and s2∗ are the inputs for fuzzy variables s1 and s2 . µA1 ,
µA2 , µB1 , µB2 , µC1 and µC2 are the membership values for different
fuzzy sets.

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Fuzzy output

The fuzzy output computation is graphically shows in the following

figure.

 A1 B1 C1

A2 B2 C 2 C
Combine output

s1* s2*

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Fuzzy output

Note:

We take min of membership function values for each rule.

Output membership function is obtained by aggregating the

membership function of result of each rule.

Fuzzy output is nothing but fuzzy OR of all output of rules.

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Illustration : Mobile Robot
For four rules, we find the following results.
NR AA RT

1.0

R1 :

0.3333
0.0
0.8 1.5 0 45 45 90
NR AR AA
1.0

R2 :

0.6571
0.0
0.8 1.5 0 45 -45 0 45

AA AR
1.0

R3 :

0.3333
0.0
0 45 90
0.8 1.5 0 45

1.0 AR AA

R4 :

0.3333
0.0
-45 0 45
0.8 1.5 0 45

D=1.04 Ɵ = 30

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Illustration : Mobile Robot

AA AR RT

0.6571 0.34 0.3333

-45 0 45 90

Aggregation of all results

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Defuzzification

The fuzzy output needs to be defuzzified and its crisp value has to be
determined for the output to take decision.

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Illustration : Mobile Robot
From the combined fuzzified output for all four fired rules, we get the
crisp value using Center of Sum method as follows.

12.5×71+25×45+25.56×0+25.56×0
v= 12.5+39.79+25+25.56 = 19.59

39.7/0
AA AR RT
1.0

0.5 A3

0.6571 0.34 A2
A4 0.3333
A1

-45 0 45 90

25.56 / 0 25/45 12.5 / 71

Conclusion : Therefore, the robot should deviate by 19.58089 degree

towards the right with respect to the line joining to the move of direction
to avoid collision with the obstacle O3 .

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Takagi and Sugeno’s approach
In this approach, a rule is composed of fuzzy antecedent and
functional consequent parts.
Thus, any i-th rule, in this approach is represented by
If (x1 is Ai1 ) and (x2 is Ai2 ) ...... and (xn is Ain )
Then, y i = a0i + a1i x1 + a2i x2 + ... + ani xn
where, a0 , a1 , a2 , ... an are the co-efficients.
The weight of i-th rule can be determined for a set of inputs x1 , x2 ,
.... xn as follows.
w i = µiA1 (x1 ) × µiA2 (x2 ) × ..... × µiAn (xn )
where A1 , A2 , .... , An indicates membership function distributions
of the linguistic hedges used to represent the input variables and
µ denotes membership function value.
The combined
Pk i i action then can be obtained as
i w y
y = Pk i ; where k denotes the total number of rules.
i w
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Illustration:

Consider two inputs I1 and I2 . These two inputs have the following
linguistic states :

I1 : L(low), M(Medium), H(High)

I2 : NR(Near), FR (Far), VF(Very Far)

Note:

The rule base of such as system is decided by a maximum of

3 × 3 = 9 feasible rules.

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Illustration:

The output of any i-th rule can be expressed by the following.

y i = f (I1 , I2 ) = aji I1 + bki I2 ; where, j,k = 1,2,3.

Suppose : a1i = 1, a2i = 2, a3i = 3 if I1 = L, M and H, respectively.

b1i = 1, b2i = 2, b3i = 3 if I2 = NR, FR, and VF , respectively.

We have to calculate the output of FLC for I1 = 6.0 and I2 = 2.2

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Illustration:

Given the distribution functions for I1 and I2 as below.

I I 2
1 L M H NR FR VF
1.0 1.0

0.0 5.0 10.0 15.0 0.0 1.0 2.0 3.0

I1 I2

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Solution

a) The input I1 = 6.0 can be called either L or M. Similarly, the input

I2 = 2.2 can be declared either FR or VF.

b) Using the principal of similarity of triangle, we have the following.

µL (I1 ) = 0.8
µM (I1 ) = 0.2
µFR (I2 ) = 0.8
µVF (I2 ) = 0.2

c) For the input set, following four rules can be fired out of all 9 rules.
R1: I1 is L and I2 is FR
R2: I1 is L and I2 is VF
R3: I1 is M and I2 is FR
R4: I1 is M and I2 is VF

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Solution

d) Now, the weights for each of the above rules can be determined as
follows.
R1: w 1 = µL × µFR = 0.8 × 0.8 = 0.6
R2: w 2 = µL × µVF = 0.8 × 0.2 = 0.16
R3: w 3 = µM × µFR = 0.2 × 0.8 = 0.16
R4: w 4 = µM × µVF = 0.2 × 0.2 = 0.6
e) The functional consequent values for each rules can be calculated
as below.
y 1 = I1 + 2I2 = 6.0 + 2 × 2.2 = 10.4
y 2 = I1 + 3I2 = 6.0 + 3 × 2.2 = 12.6
y 3 = 2I1 + 2I2 = 2 × 6.0 + 2 × 2.2 = 16.4
y 4 = 2I1 + 3I2 = 2 × 6.0 + 3 × 2.2 = 18.6

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Solution

f) Therefore, the output y of the controller can be determined as

follows.
1 1 2 y 2 +w 3 y 3 +w 4 y 4
y = w y w+w
1 +w 2 +w 3 +w 4 = 12.04

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 Happy Learning

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