FP-15 4:10 COMBINING MATHEMATICAL Proceedngs of he ard (Conerrceon Dolson ard Cont {ta ena Vita, FL December 1294 MODEL AND HEURISTICS INTO CONTROLLERS: AN ADAPTIVE FUZZY CONTROL APPROACH Li-Xin Wang Department of lectrcal ‘and Electronic Engineering ‘The Hong Kong Univesity of Science and Technology (Clear Water Bay, Kowloon Hong Kong Bmaikeewanguxmail heuristice are in the form of fursy IP-THEN rules. the following three jon are available: 1) an approxi- ‘mate model of the nonlinear system under control, 2) a collection of fuzzy IF-THEN rules describing the error between the approximate model and the real system, and 3) fuzzy control rules describing recommended control actions under various condi- Our approach combin ¢ three pi of information into an adaptive fuzzy controller. cate whe Specifically, the first two pieces of information are used to construct an estimated model of the sys- tem and a controller is designed based on this es- timated model. The third piece of information is used to construct another controller. The final controller is a weighted average of these two con trollers, We develop an adaptive law for adjusting the free parameters in the controller such that the closed-loop system follows a desired trajectory. 1 INTRODUCTION: WHAT 18 INT CONTROL? ‘Control engineers are facing large-scale systems which in- volve a combination of hardware, software and human op- erators. According to a report from control industry [1], software cost i higher than hardware cont. Software con sats of application software and basic software, and the (0-7803-1968-0/94$4.0001994 IEEE tuhk. FAX: (852)358-1485 coat of application software is higher than the cost of basic sofware. Application software can be further divided into mathematics (ie., modeling and algorithms) and heuris- tics ({.e,, common sense rules), and the cost of heuristics is much higher than the cost of mathematics. Why do we put s0 much effort on coding heuristics? One reason is that the modeling capacity of existing theory is not pow erful enough to formulate all the elements which must be considered ina real control system. Because we must con sider these unmodeled elements when we build up a rea control system, we have no choice but using heuristics, Because coding of heuristics often results in combinato Finl complexity (die to the author nature of heuristics, ive, we must consider all the combinatorial eases), the re sulting code of heuristics naturally dominates the whole software. Because mathematics results ia 8 more compact code than heuristics do and mathematics provide formal guarantees of performance, a natural question arses: why not ey to bring mathematics where they are not yet used in order to seduce the developing cost aad to improve the performance? In fact, this is the goal which we believe an intelligent conteol theory should pursue, More specifically, a task of intelligent contro isto com- bine mathematical models and heuristics into controle, {A good combination should result in a control system for ‘which rigorous mathematical analysis can be performed to study the performance of the resulting system. A difi- culty in this task is that mathernatieal models and heuri ties are often given in different frameworks. For example, heuristics are often represented by xentences in aatural languages, whereas mathematical odes consist. of equa "Therefore, if we could first transform heuristics 4122into mathematical formula, then the combination would not be very difficult. We realize that fuzzy logie provides, ‘systematic procedure of transforming heuristics (in the form of fuzzy IF-THEN rule) into mathematical formula, thus in this paper we propose an adaptive fnzay control ‘approach lo combine mathematical model and heuristics, In section 2, we show how to transform a collection of fuzzy IF-THEN rales into a mathematical mapping. In section 3, we specify the problem we want to solve and design a controller for the problem in a step-by-step com structive manner. In section 4, we simulate the controller for conttolling a chaotic system, Section 5 concludes this paper. UL, TRANSFORMING FUZZY IF-THEN RULES INTO MATHEMATICAL MAPPINGS uray logie systems have a dual role: on one hand, they are rule-based systems which are constructed from a col- lection of fuzzy IF-THEN rules; on the other hand, they are nonlinear mappings which have nice properties like universal approximation [12] In this section, we show how to transform a collection of fuzzy IF-THEN rules into a nonlinear mapping Suppose that wo are given a collection of fusy IP- "THEN rules in the following form: RO: IP 2y is Pf and and zy is Fh, THEN yis a) where 2 19) € RY and y € R are the input and put of the fuazy logic system, respectively, FY and G! are labels of fury sets in R, and = 1,2, M. In order to ‘use these rules, the frst question is how to interpret them, In terms of fuzzy logic, each rule of (1) defines a fuzry set Fix FL + G! in the input-output product space RY whose membership function is usually determined Pepe nego) = mines elena] (2) Pepenryaa (89) = Mepeeey(2lno(y) (8) where - tery xsl) = [Lary (2 ) Mrpenryle) = mincrenlen(ed 8) Let Ae be an arbitrary fuzzy set in RP, then RO of (1) determines afuzzy set Az of in based on the following, sup-min or sup-product compesitional rule of inference [13}; Hayaniotd) = supcenemin(a (2) bre crt sce] 6) Hacsnn(d) = s6bcen- las 2px. ney or(2iM) (T) where fp x.nry-oc(29) is given by (2) oF (8), [Now the Mf fusty IF-THEN rules in the form of (1) de termine a mapping from fuzzy set Ae in RY to a collection of M fuaay sets Ap o RO (I= 1,2,..Mf) in R. In order to produce a real-valued mapping from R® to R, we need a fuzzifier which maps a teal value 2 € R® into a fuzzy sot ‘Ag and a defurzfier which maps the M fuzzy sets 420) (= 1,2,.0,2f) into a teal value y € R. If we use: 1) the ingloton furzifier (12), ie., ya,(2’) = 1 for 2! = 2 and a, (2!) = 0 for all other 2” € R®, 2) the center-average defuzzifier [12], ie. PTH aon) where j/ = argsupyigr(y), and 3) the prod (8), 4) and (7), then the M fussy TF-THEN rules of (1) are transformed into he following nonlinear mapping from FE RO to fle) € R (sce Chapter 2 of [12] for details): Oo) We see from above that fuzzy logic provides a aysteu- atic procedure of transforming the rule base (1) into the nonlinear mapping (9}. Therefore, instead of implement ing the rule base (1) ditectly by searching and matching ‘as in conventional rule-based systems, we use the com- pact formula (9) to implement the whole rule-based sys- tem, Advantages of this implementation are: 1) itis fast ‘and therefore suitable for real-time applications like on line control, 2) parameters of the rules can be easily ad- jjusted to make the rule-based system adaptable to new ‘environment, and 3) conflicting rules are allowed in the rule base because the system averages them automatically as in (9). 4123IIL THE PROBLEM AND CONTROLLER. DESIGN Consider the nonlinear system 2) = f(z.) 40 (19) where fis an unknown continuous function, x € Ry wR, and 2 = (ed, Our objective is to design a controler u uch that the leas loop state will fllow a given desired trajectory 20°-1)P ig available for measurement, We make the following assumptions: Assumption 1; We know an approximate model of the system (10), be, we are given a function f which is an nate of the f in (10), Assumption 2: We are given a collection of fuzzy IF- "THEN rules describing the error J ~ funder various con- tions. Specifically, we have IF zis Ay and is Ab and ..and 2°" is AL, THEN f- fie! (1) where AL and C! are membership functions, and 1 = 12M Assumption 3: We are given a collection of fusey TF- ‘THEN rules describing recommended control actions un- der various conditions. Specifically, we have IF 8 Bi and é is BY and THEN wis DE and 2°") is Bi, (12) where BY and Di are membership functions, and j = LQ. ‘Our task now isto design a controller u which can com- bine these three pieces of information, ie. f, (11), and (22), From section 2 we see that the rules of (11) ean be ‘transformed into the following nonlinear mapping is Tas asl) fa = 413) 20-9 and @ is the center of ct. Similarly, ‘the rules of (12) can be transformed into ay where di is the center of pp; We assume that the ‘membership functions 4; and jp; are fixed and the centers 2 and di are free to change. Define 8. = BMI = (BB od), 1 Thies Hay (24) Pha) = plicated __ as. ia (@0) Thins #0; (20) Pale: = = a may (@0) ” Bale) bel (PAR), PAC)". and Ba(z) = (P}(2),.-Pi(a))?. Then (13) and (14) can be rewritten as Sele.) = 0 Bale) (a7) ux(zlls) = Bole) (1s) respectively We now design a controller for the tracking control problem. Let ¢ = 2m —#,¢ = (6é,...€°-0)7 and (kay ha)? be such that all roots of s*-Hhis"—l4+.. © are in the open left-half plane. If the fin (20) is known, then the contrller w= —f+ alt) +e (as) results in a closed-loop system characterized by Ng hye tt hye = 0 (20) ‘Therefore, ¢ + 0. Since f in (10) is unknown, the op- timal controller 1 of (19) cannot be implemented. Our approach isto replace the fin (18) bythe best etimate of it. Specifically, we see from (11) and (13) that the best eatitnate of fis ff. Therefore, we propose the flloning controler Whee aie en ‘This controller combines the mathematical model f and ‘he heuristis (11). Since the heuristics (12) are control rules, uz of (14) should be directly incorporated into the controller, Therefore, we propose the final controller as @ weighted average of uy and up, ie. w= aw + (I a)us (22) where 0 |A(e16.) + fle) — fel) (28) on = argming cam lsupgenelu"(z) ~ we (zi0I w= alf(ales) + fle) — #(2)] + (1~ alle") — wx (elea)] (28) We see that the w can be viewed as a minimum approx- imation ertor. ‘The error equation (24) can be further written as ‘Ace + bla F(ale.) ~ Fela) + (1 - a)(uc (216s) ~ux(zldg)) + = hee + Bla(0, — 82 )Ba(z) + (1 ~ 0)(8% ~ B4)Pal2) +0) (29) et P be the solution ofthe Lyapunov equation AEP +PAc=—-Q (20) where Q>> 0, Consider the Lyapunov function candidate Lerres Safa ge Pet gtd v a2, 0 we where 6, = 0, ~ 05,4, = 85 ~ 84, and 71,72 ate positive ‘constanis. Using (29) and (80) we have Vo = jeTQe+ S4flb, + ne" PHPAla +941, + m8” PhPo(a)] + 2” Phu (32) 7 ‘Therefore, if we chooce the adaptive law a. = ~ne7 PEPA(e) (33) fq = nae" PSPa(z) (34) then we have b= ae+ePbw (38) Since w is the minimum approximation error, (35) is the bet we can get In summary the controller is given by (22), where w is ssiven by (21) with / given by (17), uc is given by (18), and the parameters 8, and 0, are adjusted on-line using the adaptive law (83) and (34). The initial values 6,(0) and 8,(0) are chosen to be the centers of yicr and pps in (11) and (12), respectively. ‘The performance of this adaptive fuzzy controller is shown in the following theorem, ‘THEOREM: Ifthe state 2, parameters, and 94, aud w are bounded, then the adaptive controller designed above guarantees that a [scorer sae [painter forall > 0, where @ and b are constant, and w isthe minimum approximation eror defined by (28) i) Lwin oquated integrable that is, [° fu(t)Pat < 00, then fim sole) =O (8) Proof: i) Let Xgmin be the minimum eigenvalue of Q "Then from (95) we have vy ¢ ~Aomma tp 26 Phu + [Pui] Lage lle? - +}Pbul? x Memes Het + bol? (7) 4125Integrating both sides of (87) and assuming that Ygmin > 1 (since @ is determined by the designer, we can choose such a Q), we have [ leteiPar << lvl + VCO St ygaeerlPar [etree Define 0 = x-A—yllV(0}| + supolV/ (0 and & 51PB.|2, (38) becomes (36) (note that suprsolV()1 ite because ¢,¢, and d, ae all bounded by aura: tion) fi) Ww € La, then from (36) we have ¢ € La. Bo- cause from the assumption all the variables inthe right hand side of (29) are bounded, we have & € Lay. Using the Barbalat's Lemma (8) (if © € La Lg and & € Loo then timsolet)| = 0), we have Lim yccle(t)| = 0. app. IV. SIMULATION ‘We now simulate our adaptive fussy controller designed in section 3 for the Duffing forced oscillation system 2201-4 eos) eu (89) Our objective is to contro the z to follow z(t) = sin(t). We assume that f = 12cos(t) and we have the following three fuay IF-THEN rules describing the error between Sand f IF zis around xero.and is around zero, THEN f isaround zero (40) IF zisaround? and is around ~10t010, (ay IP ris around ~ 2and# is around — 101010, THEN fisarounds (2) ‘These rules are obtained by observing (38). Properly choosing membership functions forthe linguistic terms in (40) (42) and adding more rule, we have /. Por simplic ity we asnume that there ate no control rules (12). We choose jigy to uniformly cover the region = € [4,4] and # € [6,6]. We choose W = 6. The state trajectory for initia condition £(0) = #(0) = 2 is shown in the phase plane of Figure 1. We se that z converges to Zn, Figure 1: State trajectory ofthe closed-loop system using, the adaptive fuzzy controller V. CONCLUSIONS In this paper, we designed an adaptive fuzzy controller for nonlinear systems which can combine the following three pieces of information together: 1) an approximate model of the nonlinear system under control, 2) fuzey IF-THEN rules describing the difference between the approximate model and the real system, and 3) fury IP-THEN rules describing recommended control actions under various condition. We provided conditions under which the track- ing error converges to zero. Simulation results showed that the controller could control the chaotic Duling system to track a sine-trajoctory VI. Rerenences [1] Benveniste, A. and K. J. Astrom, “Meeting the challenge of computer science in the industrial applica- tions of control,” IEEE Trans. on Automatic Control Vol. AC-88, No. 7, and Automatica, Vol. 88, No. 7, 1993 [2] Isidori, A, Nonlinear Control Systems, Beslin Springer-Verlag, 1989 [3] Klir, G. J. and T. A. 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