Design of heuristic fuzzy controller
S. Kundu, Jianhua Chen · Proceedings of IEEE 5th International Fuzzy Systems · 2002
We propose a method for obtaining fuzzy rules of a dynamic control system without using any plant model or control surface. We maintain a table of previous state-control pairs, y(t/sub j/)>, together with a fuzzy evaluation e(t/sub j/) of the goodness of the control action y(t/sub j/) at the state s(t/sub j/). To select the control action y(t) at the current state s(t), we first find several state-control pairs which match well with s(t) and have good evaluations. Then, we compute y(t) by a heuristic adaptation of the control actions of those neighboring points. When several successful control runs with different start-states have been obtained, we apply fuzzy clustering to all the pointsaccumulated so far to obtain the final set of rules, one from each cluster. These rules provide a good generalization of the points, and they can be used for successfully controlling the plant for new start states. The effectiveness of our method is demonstrated by applying it to the inverted pendulum problem.