Acquisition of Fuzzy Control Rules Using Soft Computing Technique

模糊控制中使用的模糊控制规则通常是由操作员通过试错来构造的。本课题旨在利用软计算技术，通过调整前件和后件的模糊规则，自动获取模糊控制规则。提出了新的模糊控制模糊推理方法，如模糊单件推理法、模糊函数推理法、加权函数推理法等。给出了模糊单件推理模糊控制规则的前件中心和宽度以及后件位置和权值的调整方法，并结合神经技术和模糊聚类方法给出了模糊单件推理方法中模糊控制规则的位置和权重的调整方法。计算机仿真结果表明，与模糊控制中常用的简化推理方法相比，该方法生成的模糊控制规则数更少；提出了一种基于两个模糊集之间距离计算的距离型模糊推理方法，讨论了基于距离型模糊推理方法的特征空间的鲁棒联想记忆算法、动态推理算法和不可插补算法；考虑了采用现场可编程门阵列运行自主移动机器人Khepera的进化硬件避碰问题。作为遗传算法中一种新型的染色体编码方法，提出了树型结构染色体编码。此外，我们还构建了一个四足机器人，并演示了模糊控制下的平衡和位置控制。

Fuzzy control rules used in fuzzy controls are usually constructed through trial and error by human operators. But it becomes difficult to construct the fuzzy rules by humans when the controlled plants are complicated.This project aims to acquire fuzzy control rules automatically by using soft computing techniques in tuning the antecedent and consequent parts fuzzy rules.New fuzzy reasoning methods for fuzzy controls are proposed such as "fuzzy singleton-type reasoning method", "fuzzy functional reasoning method" and "weighted functional reasoning method", and their relationships are investigated.We give a method of tuning the center and width of the antecedent part as well as the position and weight of the consequent part of fuzzy control rules of fuzzy singleton-type reasoning method by using the deepest decendent method used in the neuro technique and fuzzy clustering method. It is shown from the computer simulation of several functions that this method can generate smaller number of fuzzy control rules compared with the case by the simplified reasoning method which is used usually and widely in fuzzy controls.We propose a distance-type fuzzy reasoning method based on the calculated distance between two fuzzy sets, and discuss robust associative memory algorithm, dynamic reasoning algorithm and unterpolation algorithm in the characteristic space using distant-type fuzzy reasoning method.We consider evolvable hardware using field programmable gate array to run autonomous mobile robot Khepera for collision avoidance. As a new type of chromosome coding in genetic algorithm, tree structure-type chromosome coding is proposed. Moreover, we construct a robot with 4 legs and demonstrate the balance and position controls under fuzzy controls.