Evolution of Voronoi-based Fuzzy Controllers

A fuzzy controller is usually designed by formulating the knowledge of a human expert into a set of linguistic variables and fuzzy rules. One of the most successful methods to automate the fuzzy controllers development process are evolutionary algorithms. In this work, we propose a so-called ``approximative'' representation for fuzzy systems, where the antecedent of the rules are determined by a multivariate membership function defined in terms of Voronoi regions. Such representation guarantees the $\epsilon$-completeness property and provides a synergistic relation between the rules. An evolutionary algorithm based on this representation can evolve all the components of the fuzzy system, and due to the properties of the representation, the algorithm (1) can benefit from the use of geometric genetic operators, (2) does not need genetic repair algorithms, (3) guarantees the completeness property and (4) can implement previous knowledge in a simple way by using adaptive a priori rules. The proposed representation is evaluated on an obstacle avoidance problem with a simulated mobile robot

Evolution of Voronoi based Fuzzy Recurrent Controllers

A fuzzy controller is usually designed by formulating the knowledge of a human expert into a set of linguistic variables and fuzzy rules. Among the most successful methods to automate the fuzzy controllers development process are evolutionary algorithms. In this work, we propose the Recurrent Fuzzy Voronoi (RFV) model, a representation for recurrent fuzzy systems. It is an extension of the FV model proposed by Kavka and Schoenauer that extends the application domain to include temporal problems. The FV model is a representation for fuzzy controllers based on Voronoi diagrams that can represent fuzzy systems with synergistic rules, fulfilling the $\epsilon$-completeness property and providing a simple way to introduce a priory knowledge. In the proposed representation, the temporal relations are embedded by including internal units that provide feedback by connecting outputs to inputs. These internal units act as memory elements. In the RFV model, the semantic of the internal units can be specified together with the a priori rules. The geometric interpretation of the rules allows the use of geometric variational operators during the evolution. The representation and the algorithms are validated in two problems in the area of system identification and evolutionary robotics

Evolution of recurrent fuzzy controllers

The main advantage of a recurrent architecture is the ability to store information from prior system states. A recurrent fuzzy controller includes hidden fuzzy variables which makes the controller more appropriate to deal with dynamic systems. We are currently investigating the effect of evolution of recurrent fuzzy controllers by applying the FV representation, which provides a set of advantages that can signi catively benefit the quality of the knowledge insertion process.Eje: Sistemas de información y MetaheurísticaRed de Universidades con Carreras en Informática (RedUNCI

An architecture for fuzzy logic controllers evolution and learning in microcontrollers based environments

The growing number of control models based on combinations of neural networks, fuzzy systems and evolutionary algorithms shows that they represent a flexible and powerful approach. However, most of these models assume that there is enough CPU power for the evolutionary and learning algorithms, which in a large number of cases is an unrealistic assumption. It is usual that the control tasks are performed by small microcontrollers, which are very near to or embedded in the plant, with low power, low cost and dedicated to a single task. This work proposes an architecture for evolution and learning in adaptive control, specifically designed to operate in microcontrollers based environments. An evaluation on a simulated temperature control environment is provided, together with details on the current hardware implementation.Eje: Agentes y Sistemas Inteligentes (ASI)Red de Universidades con Carreras en Informática (RedUNCI

Prior knowledge in evolutionary fuzzy recurrent controllers design

A fuzzy controller is usually designed by formulating the knowledge of a human expert into a set of linguistic variables and fuzzy rules. As it is well known, the use of prior knowledge can dramatically improve the performance and quality of the fuzzy system design process. In previous works we have introduced the RFV model, a representation for recurrent fuzzy controllers based on Voronoi diagrams that can represent fuzzy systems with synergistic rules, ful lling the completeness property and providing a simple way to introduce prior knowledge. In this work we present our current approach in the study of the inclusion of prior knowledge in the context of the RFV model.Eje: Inteligencia artificialRed de Universidades con Carreras en Informática (RedUNCI

FPGAs in Industrial Control Applications

The aim of this paper is to review the state-of-the-art of Field Programmable Gate Array (FPGA) technologies and their contribution to industrial control applications. Authors start by addressing various research fields which can exploit the advantages of FPGAs. The features of these devices are then presented, followed by their corresponding design tools. To illustrate the benefits of using FPGAs in the case of complex control applications, a sensorless motor controller has been treated. This controller is based on the Extended Kalman Filter. Its development has been made according to a dedicated design methodology, which is also discussed. The use of FPGAs to implement artificial intelligence-based industrial controllers is then briefly reviewed. The final section presents two short case studies of Neural Network control systems designs targeting FPGAs

A study of prior knowledge insertion in evolutionary fuzzy recurrent controllers design

A fuzzy controller is usually designed by formulating the knowledge of a human expert into a set of linguistic variables and fuzzy rules. As it is well known, the use of prior knowledge can dramatically improve the performance and quality of the fuzzy system design process. In previous works we have introduced the RFV model, a representation for recurrent fuzzy controllers based on Voronoi diagrams that can represent fuzzy systems with synergistic rules, ful lling the completeness property and providing a simple way to introduce prior knowledge. In this work we present our current approach in the study of the inclusion of prior knowledge in the context of the RFV modelEje: VI Workshop de Agentes y Sistemas Inteligentes (WASI)Red de Universidades con Carreras en Informática (RedUNCI

Evolution of recurrent fuzzy controllers

The main advantage of a recurrent architecture is the ability to store information from prior system states. A recurrent fuzzy controller includes hidden fuzzy variables which makes the controller more appropriate to deal with dynamic systems. We are currently investigating the effect of evolution of recurrent fuzzy controllers by applying the FV representation, which provides a set of advantages that can signi catively benefit the quality of the knowledge insertion process.Eje: Sistemas de información y MetaheurísticaRed de Universidades con Carreras en Informática (RedUNCI