New methods for the estimation of Takagi-Sugeno model based extended Kalman filter and its applications to optimal control for nonlinear systems

This paper describes new approaches to improve the local and global approximation (matching) and modeling capability of Takagi–Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy and fast convergence. The main problem encountered is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the application of the T-S method because this type of membership function has been widely used during the last 2 decades in the stability, controller design of fuzzy systems and is popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S identification method with optimized performance in approximating nonlinear functions. We propose a noniterative method through weighting of parameters approach and an iterative algorithm by applying the extended Kalman filter, based on the same idea of parameters’ weighting. We show that the Kalman filter is an effective tool in the identification of T-S fuzzy model. A fuzzy controller based linear quadratic regulator is proposed in order to show the effectiveness of the estimation method developed here in control applications. An illustrative example of an inverted pendulum is chosen to evaluate the robustness and remarkable performance of the proposed method locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity, and generality of the algorithm. An illustrative example is chosen to evaluate the robustness. In this paper, we prove that these algorithms converge very fast, thereby making them very practical to use

Neuro-fuzzy chip to handle complex tasks with analog performance

This paper presents a mixed-signal neuro-fuzzy controller chip which, in terms of power consumption, input–output delay, and precision, performs as a fully analog implementation. However, it has much larger complexity than its purely analog counterparts. This combination of performance and complexity is achieved through the use of a mixed-signal architecture consisting of a programmable analog core of reduced complexity, and a strategy, and the associated mixed-signal circuitry, to cover the whole input space through the dynamic programming of this core. Since errors and delays are proportional to the reduced number of fuzzy rules included in the analog core, they are much smaller than in the case where the whole rule set is implemented by analog circuitry. Also, the area and the power consumption of the new architecture are smaller than those of its purely analog counterparts simply because most rules are implemented through programming. The Paper presents a set of building blocks associated to this architecture, and gives results for an exemplary prototype. This prototype, called multiplexing fuzzy controller (MFCON), has been realized in a CMOS 0.7 um standard technology. It has two inputs, implements 64 rules, and features 500 ns of input to output delay with 16-mW of power consumption. Results from the chip in a control application with a dc motor are also provided

A symbolic sensor for an Antilock brake system of a commercial aircraft

The design of a symbolic sensor that identifies thecondition of the runway surface (dry, wet, icy, etc.) during the braking of a commercial aircraft is discussed. The purpose of such a sensor is to generate a qualitative, real-time information about the runway surface to be integrated into a future aircraft Antilock Braking System (ABS). It can be expected that this information can significantly improve the performance of ABS. For the design of the symbolic sensor different classification techniques based upon fuzzy set theory and neural networks are proposed. To develop and to verify theses classification algorithms data recorded from recent braking tests have been used. The results show that the symbolic sensor is able to correctly identify the surface condition. Overall, the application example considered in this paper demonstrates that symbolic information processing using fuzzy logic and neural networks has the potential to provide new functions in control system design. This paper is part of a common research project between E.N.S.I.C.A. and Aerospatiale in France to study the role of the fuzzy set theory for potential applications in future aircraft control systems

Neuro-fuzzy chip to handle complex tasks with analog performance

This Paper presents a mixed-signal neuro-fuzzy controller chip which, in terms of power consumption, input-output delay and precision performs as a fully analog implementation. However, it has much larger complexity than its purely analog counterparts. This combination of performance and complexity is achieved through the use of a mixed-signal architecture consisting of a programmable analog core of reduced complexity, and a strategy, and the associated mixed-signal circuitry, to cover the whole input space through the dynamic programming of this core [1]. Since errors and delays are proportional to the reduced number of fuzzy rules included in the analog core, they are much smaller than in the case where the whole rule set is implemented by analog circuitry. Also, the area and the power consumption of the new architecture are smaller than those of its purely analog counterparts simply because most rules are implemented through programming. The Paper presents a set of building blocks associated to this architecture, and gives results for an exemplary prototype. This prototype, called MFCON, has been realized in a CMOS 0.7μm standard technology. It has two inputs, implements 64 rules and features 500ns of input to output delay with 16mW of power consumption. Results from the chip in a control application with a DC motor are also provided

Adaptive probability scheme for behaviour monitoring of the elderly using a specialised ambient device

A Hidden Markov Model (HMM) modified to work in combination with a Fuzzy System is utilised to determine the current behavioural state of the user from information obtained with specialised hardware. Due to the high dimensionality and not-linearly-separable nature of the Fuzzy System and the sensor data obtained with the hardware which informs the state decision, a new method is devised to update the HMM and replace the initial Fuzzy System such that subsequent state decisions are based on the most recent information. The resultant system first reduces the dimensionality of the original information by using a manifold representation in the high dimension which is unfolded in the lower dimension. The data is then linearly separable in the lower dimension where a simple linear classifier, such as the perceptron used here, is applied to determine the probability of the observations belonging to a state. Experiments using the new system verify its applicability in a real scenario