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Fuzzy Control

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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  1. Fuzzy Control

  2. 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

  3. Fuzzy Logic

  4. Fuzzy Sets Is this sentence true or false?

  5. 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.

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

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

  8. 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

  9. A Fuzzy Controller

  10. 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

  11. 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

  12. Fuzzy Inference

  13. 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

  14. Rules

  15. 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

  16. 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

  17. 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

  18. 68HC12 JStamp …

  19. Fuzzy k-map for floating ping-pong ball

  20. Implementations • High-level Languages • C • Java • Assembly • Assembly • Assembly Built-in Fuzzy Control Instructions • HC12

  21. Designing a Robot (Example)

  22. Designing a Robot (Example)

  23. Designing a Robot (Example)

  24. Designing a Robot (Example)

  25. Designing a Robot (Example)

  26. Designing a Robot (Example)

  27. Designing a Robot (Example)

  28. Designing a Robot (Example)

  29. Designing a Robot (Example)

  30. Designing a Robot (Example)

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