Luan van tot nghiep

Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab

14

Chng II
LY THUYET IEU KHIEN M

I. Gii thieu ve logic m:
1. Khai niem ve tap m:
a. nh ngha:
Tap m F xac nh tren tap kinh ien M la mot tap ma moi phan t cua no la
mot cap cac gia tr (x,
F
(x)) trong o x e M va
F
la anh xa.
F
: M [0, 1]
Anh xa
F
c goi la ham lien thuoc (hoac ham phu thuoc) cua tap m F. Tap
kinh ien M c goi la c s cua tap m F.
S dung cac ham lien thuoc e tnh o phu thuoc cua mot phan t x nao o co
hai cach: tnh trc tiep (neu
F
(x) dang cong thc tng minh) hoac tra bang (neu

F
(x) dang bang).
Cac ham lien thuoc
F
(x) co dang trn c goi la ham lien thuoc kieu S. oi
vi ham lien thuoc kieu S, do cac cong thc bieu dien
F
(x) co o phc tap ln nen
thi gian tnh o phu thuoc cho mot phan t lau. Trong ky thuat ieu khien m thong
thng, cac ham lien thuoc kieu S thng c thay gan ung bang mot ham tuyen
tnh tng oan.
Mot ham lien thuoc co dang tuyen tnh tng oan c goi la ham lien thuoc
co mc chuyen oi tuyen tnh.






Ham lien thuoc
F
(x) nh tren vi m
1
= m
2
va m
3
= m
4
chnh la ham phu thuoc
cua mot tap kinh ien.

b. o cao, mien xac nh va mien tin cay cua tap m:
o cao cua mot tap m F (tren c s M) la gia tr:
) ( sup x H
F
M x

e
=
Ham lien thuoc
F
(x) co mc chuyen oi
tuyen tnh.
m
1

F
(x)
m
2
m
3
m
4
x
1
0
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Qu trnh hnh thnh gio trnh l thuyt
iu khin logic m trong cc hm lin
thuc ca m hnh matlap 6.0
Luan van tot nghiep
Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab
15
Mot tap m vi t nhat mot phan t co o phu thuoc bang 1 c goi la tap m
chnh tac tc la H = 1, ngc lai mot tap m F vi H < 1 c goi la tap m khong
chnh tac.
Mien xac nh cua tap m F (tren c s M), c ky hieu bi S la tap con cua
M thoa man:
S = { x e M |
F
(x) > 0}
Mien tin cay cua tap m F (tren c s M), c ky hieu bi T la tap con cua M
thoa man:
T = { x e M |
F
(x) = 1}








2. Cac phep toan tren tap m:
a. Phep hp:
Hp cua hai tap m A va B co cung c s M la mot tap m cung xac nh tren
c s M vi ham lien thuoc:

AB
(x) = MAX{
A
(x),
B
(x)},







Co nhieu cong thc khac nhau c dung e tnh ham lien thuoc
AB
(x) cua
hp hai tap m nh:
1.

=
=
=

0 )} ( ), ( min{ 1
0 )} ( ), ( min{ )} ( ), ( max{
) (
x x
x x x x
x
B A
B A B A
B A

neu
neu
,
Mien xac nh va mien tin cay
cua mot tap m.

F
(x)
x
1
0
Mien tin cay
Mien xac nh
Ham lien thuoc cua hp hai tap m co cung c s.

x

A
(x)
B
(x)
C
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Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab
16
2.
AB
(x) = min{1,
A
(x) +
B
(x)} (Phep hp Lukasiewicz),
3.
) ( ) ( 1
) ( ) (
) (
x x
x x
x
B A
B A
B A

+ +
+
=

(Tong Einstein),
4.
AB
(x) =
A
(x) +
B
(x) -
A
(x).
B
(x) (Tong trc tiep),...
a)



b)







c)









Co hai tap m A (c s M) va B (c s N). Do hai c s M va N oc lap vi
nhau nen ham lien thuoc
A
(x), x e M cua tap m A se khong phu thuoc vao N va
ngc lai
B
(y), y e N cua tap m B cung se khong phu thuoc vao M. ieu nay the
hien cho tren c s mi la tap tch M N ham
A
(x) phai la mot mat cong doc
theo truc y va
B
(y) la mot mat cong doc theo truc x. Tap m A c nh ngha
tren hai c s M va M N. e phan biet c chung, ky hieu A se c dung e ch
tap m A tren c s M N. Tng t, ky hieu B c dung e ch tap m B tren c
s M N, vi nhng ky hieu o th:

A
(x)
x

B
(y)
y
x

A
(x, y)
y
M N
x

B
(x, y)
y
M N
M N
x

AB
(x, y)
y
Phep hp hai tap m khong cung c s:
a) Ham lien thuoc cua hai tap m A, B.
b) a hai tap m ve chung mot c s M N.
c) Hp hai tap m tren c s M N.

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Luan van tot nghiep
Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab
17

A
(x, y) =
A
(x), vi moi y e N va

B
(x, y) =
B
(y), vi moi x e M.
Sau khi a a c hai tap m A, B ve chung mot c s la M N thanh A va B
th ham lien thuoc
AB
(x, y) cua tap m A B c xac nh theo cong thc (4).

b. Phep giao:





Giao cua hai tap m A va B co cung c s M la mot tap m cung xac nh tren
c s M vi ham lien thuoc:

AB
(x) = MIN{
A
(x),
B
(x)},
Trong cong thc tren ky hieu min c viet hoa thanh MIN ch e bieu hien
rang phep tnh lay cc tieu c thc hien tren tap m. Ban chat phep tnh khong co
g thay oi.
Co nhieu cong thc khac nhau c dung e tnh ham lien thuoc
AB
(x) cua
giao hai tap m nh:
1.

=
=
=

1 )} ( ), ( max{ 0
1 )} ( ), ( max{ )} ( ), ( min{
) (
x x
x x x x
x
B A
B A B A
B A

neu
neu
,
2.
AB
(x) = max{0,
A
(x) +
B
(x) - 1} (Phep giao Lukasiewicz),
3. (Tch Einstein),
4.
AB
(x) =
A
(x)
B
(x) (Tch ai so),...
Cong thc tren cung ap dung c cho hp hai tap m khong cung c s bang
cach a ca hai tap m ve chung mot c s la tch cua hai c s a cho.
Chang han co hai tap m A nh ngha tren c s M va B nh ngha tren c s
N. Do hai c s M va N oc lap vi nhau nen ham lien thuoc
A
(x), x e M cua tap m
A se khong phu thuoc vao N va ngc lai
B
(y), y e N cua tap m B cung se khong
phu thuoc vao M. Tren c s mi la tap tch M N ham
A
(x) la mot mat cong doc
theo truc y va
B
(y) la mot mat cong doc theo truc x. Tap m A (hoac B) c nh
ngha tren hai c s M (hoac N) va M N. e phan biet, ky hieu A (hoac B) se c
dung e ch tap m A (hoac B) tren c s mi la M N. Vi nhng ky hieu o th

A
(x, y) =
A
(x), vi moi y e N va
Giao hai tap m cung c s.

x

AB
(x)

A
(x)
B
(x)
C
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Luan van tot nghiep
Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab
18

B
(x, y) =
B
(y), vi moi x e M.








c. Phep bu:
Bu cua tap m A co c s M va ham lien thuoc
A
(x) la mot tap m A
C
xac nh
tren cung c s M vi ham lien thuoc:

A
c(x) = 1 -
A
(x).








3. Luat hp thanh m:
a. Menh e hp thanh:
Cho hai bien ngon ng _ va . Neu bien _ nhan gia tr m A co ham lien thuoc

A
(x) va nhan gia tr m B co ham lien thuoc
B
(y) th hai bieu thc:
_ = A,
= B.
c goi la hai menh e.
Ky hieu hai menh e tren la p va q th menh e hp thanh p q (t p suy ra
q), hoan toan tng ng vi luat ieu khien (menh e hp thanh mot ieu kien)
NEU _ = A th = B, trong o menh e p c goi la menh e ieu kien va q la
menh e ket luan.
Phep giao hai tap m khong cung c s.

M N
x

AB
(x, y)
y
x
1

A
(x)
a)
x
1

A
c(x)
b)
Tap bu A
C
cua tap m A.
a) Ham lien thuoc cua tap m A.
b) Ham lien thuoc cua tap m A
C
.
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Luan van tot nghiep
Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab
19
Menh e hp thanh tren la mot v du n gian ve bo ieu khien m. No cho
phep t mot gia tr au vao x
0
hay cu the hn la t o phu thuoc
A
(x
0
) oi vi tap
m A cua gia tr au vao x
0
xac nh c he so thoa man menh e ket luan q cua
gia tr au ra y. Bieu dien he so thoa man menh e q cua y nh mot tap m B cung
c s vi B th menh e hp thanh chnh la anh xa:

A
(x
0
)
B
(y).

b. Mo ta menh e hp thanh:
Anh xa
A
(x
0
)
B
(y) ch ra rang menh e hp thanh la mot tap ma moi phu
thuoc la mot gia tr (
A
(x
0
),
B
(y)), tc la moi phu thuoc la mot tap m. Mo ta menh
e hp thanh p q va cac menh e ieu khien p, ket luan q co quan he sau:
p q p q
0 0 1
0 1 1
1 0 0
1 1 1
noi cach khac: menh e hp thanh p q co gia tr logic cua ~pv q, trong o ~ ch
phep tnh lay gia tr logic AO va ch phep tnh logic HOAC.
Bieu thc tng ng cho ham lien thuoc cua menh e hp thanh se la
A B MAX{1 -
A
(x),
B
(y)}
Ham lien thuoc cua menh e hp thanh co c s la tap tch hai tap c s a co.
Do co s mau thuan rang p q luon co gia tr ung (gia tr logic 1) khi p sai nen s
chuyen oi tng ng t menh e hp thanh p q kinh ien sang menh e hp
thanh m A B khong ap dung c trong ky thuat ieu khien m.
e khac phuc nhc iem tren, co nhieu y kien khac nhau ve nguyen tac xay
dng ham lien thuoc
AB
(x, y) cho menh e hp thanh A B nh:
1.
AB
(x, y) = MAX{MIN{
A
(x),
B
(y)},1 -
A
(x)} cong thc Zadeh,
2.
AB
(x, y) = MIN{1, 1 -
A
(x) +
B
(y)} cong thc Lukasiewicz,
3.
AB
(x, y) = MAX{1 -
A
(x),
B
(y)} cong thc Kleene-Dienes,
song nguyen tac cua Mamdani: o phu thuoc cua ket luan khong c ln hn o
phu thuoc cua ieu kien la co tnh thuyet phuc nhat va hien ang c s dung
nhieu nhat e mo ta luat menh e hp thanh m trong ky thuat ieu khien.
T nguyen tac cua Mamdani co c cac cong thc xac nh ham lien thuoc
sau cho menh e hp thanh A B:
1.
AB
(x, y) = MIN{
A
(x),
B
(y)} cong thc MAX-MIN,
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Luan van tot nghiep
Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab
20
2.
AB
(x, y) =
A
(x).
B
(y) cong thc MAX-PROD,
Cac cong thc tren cho menh e hp thanh A B c goi la quy tac hp
thanh.

c. Luat hp thanh m:
* Luat hp thanh mot ieu kien:
Luat hp thanh MAX-MIN:
Luat hp thanh MAX-MIN la ten goi mo hnh (ma tran) R cua menh e hp
thanh A B khi ham lien thuoc
AB
(x, y) cua no c xay dng tren quy tac MAX-
MIN.
Trc tien hai ham lien thuoc
A
(x) va
B
(y) c ri rac hoa vi chu ky ri rac
u nho e khong b mat thong tin.
Tong quat len cho mot gia tr ro x
0
bat ky:
x
0
e X = {x
1
, x
2
, ..., x
n
}
tai au vao, vector chuyen v a se co dang:
a
T
= (a
1
, a
2
, ..., a
n
)
trong o ch co mot phan t a
i
duy nhat co ch so i la ch so cua x
0
trong X co gia tr
bang 1, cac phan t con lai eu bang 0. Ham lien thuoc:
( )
|
|
|
.
|

o

= (l
1
, l
2
, ..., l
n
) vi

=
=
n
i
ki i k
r a l
1

e tranh s dung thuat toan nhan ma tran cua ai so tuyen tnh cho viec tnh

B
(y) va cung e tang toc o x ly, phep tnh nhan ma tran c thay bi luat max-
min cua Zadeh vi max (phep lay cc ai) thay vao v tr phep nhan va min (phep
lay cc tieu) thay vao v tr phep cong nh sau
( )
ki i
n i
k
r a l , min max
1 s s
=

Luat hp thanh MAX-PROD:
Cung giong nh vi luat hp thanh MAX-MIN, ma tran R cua luat hp thanh
MAX-PROD c xay dng gom cac hang la m gia tr ri rac cua au ra
B
(y
1
),

B
(y
2
), ...,
B
(y
m
) cho n gia tr ro au vao x
1
, x
2
, ..., x
n
. Nh vay, ma tran R se co n
hang va m cot.
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