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Design of robust fuzzy-logic control systems by multi-objective evolutionary methods with hardware in the loop

By Paul Stewart, D. A. Stone and P. J. Fleming

Abstract

Evolutionary development of a fuzzy logic controller is described and is evaluated in the context of hardware in the loop. It had been found previously that a robust speed controller could be designed for a DC motor motion control platform via off-line fuzzy logic controller design. However to achieve the desired performance, the controller required manual tuning on-line. This paper investigates the automatic design of a fuzzy logic controller directly on to hardware. An optimiser which modifies the fuzzy membership functions, rulebase and defuzzification algorithms is considered. A multi-objective evolutionary algorithm is applied to the task of controller development, while an objective function ranks the system response to find the Pareto-optimal set of controllers. Disturbances are introduced during each evaluation at run-time in order to produce robust performance. The performance of the controller is compared experimentally with the fuzzy logic controller which has been designed off-line, and a standard PID controller which has been tuned online. The on-line optimised fuzzycontroller is shown to be robust, possessing excellent steady-state and dynamic characteristics, demonstrating the performance possibilities of this type of approach to controller design

Topics: H620 Electrical Engineering, H660 Control Systems, G520 Systems Design Methodologies, H100 General Engineering, G700 Artificial Intelligence, H360 Electromechanical Engineering
Publisher: Elsevier
Year: 2004
DOI identifier: 10.1016/j.engappai.2004.03.003
OAI identifier: oai:eprints.lincoln.ac.uk:2190
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