DIEU KHIEN THONG MINH

(Ban nhap)
2
TONG QUAN
n ieu khien thong thuong (conventional control)
n ieu khien kinh dien (classical control)
n ieu khien hien dai (modern control)
n ieu khien toi uu (optimal control)
n ieu khien thch nghi (adaptive control)
n ieu khien ben vung (robust control)
n ieu khien thong minh
n ieu khien mo (fuzzy control)
n Mang neural (neural network)
n Giai thuat di truyen (gene algorithm)
3
ieu khien thong thuong
n Uu:
n Co co so toan hoc chat che
Co the dung cac cong cu toan hoc de phan tch &
thiet ke he thong cho phep bao dam tnh on dinh va
ben vung.
n Khuyet:
n Can mo hnh toan de thiet ke bo dieu khien.
n Can hieu biet sau ve ky thuat dieu khien.
n Thuong khong hieu qua khi dieu khien he phi tuyen.
n Khong su dung kinh nghiem cua con nguoi.
4
Thong minh la g?
n Thong minh la kha nang thu thap va su
dung tri thuc.
n Co nhieu cap do thong minh va nhieu loai
thong minh.
n Khai niem Thong minh ch mang tnh
tuong doi. (Mot he thong nguoi nay cho la
thong minh, nguoi khac co the cho la
khong thong minh.)
5
So sanh
K thong minh - K thong thuong
n Ve mat toan hoc, dieu khien thong minh khong
chat che bang dieu khien thong thuong. ay la
lnh vuc tuong doi moi, chua duoc nghien cuu
het.
n Ve nguyen tac, khi thiet ke cac bo dieu khien
thong minh, ta khong can mo hnh toan hoc cua
doi tuong day la uu diem cua dieu khien
thong minh, v nhieu truong hop khong de (hoac
khong the) xac dinh mo hnh toan cua doi tuong.
6
Phan 1: DIEU KHIEN MO
n 1965: Lofti A. Zadeh dua ra khai niem ve ly thuyet tap
mo (fuzzy set).
n 1972: Terano va Asai lap co so nghien cuu he thong mo
o Nhat.
n 1974: Mamdani nghien cuu dieu khien mo cho lo hoi.
n 1980: hang Smidth nghien cuu dieu khien mo cho lo xi-
mang.
n 1983: hang Fuji Electric nghien cuu ung dung dieu khien
mo cho nha may xu ly nuoc.
n 1984: Hiep hoi He thong Mo quoc te IFSA duoc thanh
lap.
n 1989: phong th nghiem quoc te nghien cuu ung dung ky
thuat mo dau tien duoc thanh lap.
Lich su phat trien
7
Tap hop kinh dien
Cach bieu dien tap hop:
n Bieu dien bang cach liet ke phan tu:
VD: A = {1, 2, 3, 5, 7, 11
Bat tien khi tap hop co nhieu (vo so) phan tu.
n Bieu dien thong qua tnh chat phan tu:
VD: A = {x | x la so nguyen to
B = {x | x la so thuc va x < 4

Cho X la tap hop cac doi tuong co cung tnh

chat (tap co so). A la tap con cua X. Phan tu
x bat ky thuoc X. Anh xa c
A
: X {0, 1 xa {0, 1 xa c c
d dinh bo inh bo i: i:
duoc goi la ham dac trung (ham ch thi) cua
A.
He qua: c
X
(x) = 1 voi moi x X
Ham dac trung

=
) ( 0
) ( 1
) (
A x
A x
x
A
c
9
VD: Cho A = {x R R | 2 < x < 4, th:
c
A
(1,5) = 0 c
A
(3) = 1
c
A
(2) = 0 c
A
(4) = 0
Ham dac trung
2 4
1
c
A
x
10
Cho 2 tap hop A, B dinh ngha tren tap co so X. Ta co
cac tnh chat sau:
Phep hop: A B c
A AB
(x) = max{c
A
(x), c
B
(x)
Phep giao: A B c
AB
(x) = min{c
A
(x), c
B
(x)
Phep bu:
Chua trong: A B c
A
(x) c
B
(x)
Kiem chung cac ket qua tren bang cac v du cu the.
VD: A = {x R R | 2 < x < 4, B = {x R R | 1 < x < 5
Ham dac trung
) ( 1 ) ( x x A
A
A
c c - =
11
nTap kinh dien co bien ro rang (hnh a).
nTap mo co bien khong ro rang (hnh b).
Tap mo (Fuzzy set)
x
1
x
2
X X
x
1
x
2
x
3
A
A
~
(a) (b)
Ghi chu: Ta dung chu cai co dau nga tren de dat ten cho tap mo.
12
VD: Xet nhung tap duoc mo ta mo sau day:
- Tap gom nhung so thuc nho hon nhieu so
voi 6.
Tap mo (Fuzzy set)
} 6 {
~
<< = x R x B
B
~
- Tap gom nhung so thuc gan bang 3. C
~
} 3 {
~
= x R x C
Vay: x = 3,5 co thuoc tap hay khong?
x = 2,5 co thuoc tap hay khong?
B
~
C
~
13
n inh ngha: Tap ma xac dinh tren tap co so X la
mot tap hop ma moi phan tu cua no la mot cap gia
tri , trong do x X va la anh xa:
n Anh xa duoc goi la ham //en thaoc
(membership function) cua tap mo .
n Ham lien thuoc cho biet do phu thuoc cua cac phan
tu vao tap mo (phan tu thuoc tap mo bao nhien phan
tram).
Tap mo (Fuzzy set)
[ ] 1 , 0 : ~ X
A
m
A
~
)) ( , ( ~ x x
A
m ) ( ~ x
A
m
) ( ~ x
A
m
A
~
14
n Tap mo dinh ngha tren tap co so X roi rac huu
han duoc ky hieu nhu sau:
n Tap mo dinh ngha tren tap co so X lien tuc vo
han duoc ky hieu nhu sau:
Ghi chu: Dau gach ngang khong phai la dau chia ma ch la dau phan
cach; dau va khong phai la tong hay tch phan ma ch la ky hieu co y
ngha gom cac phan tu .
K hieu tap mo
A
~

=

i i
i
A
x
x
A
) (
~
~ m
A
~

=

x
x
A
A
) (
~
~ m
15
Ham lien thuoc co the co dang tron (hnh a),
hay dang tuyen tnh tung doan (hnh b).
Ham lien thuoc
6 x
1
B
~
) ( ~ x
B
m
(a)
3 x
1
C
~
) ( ~ x
C
m
(b)
16
n Tam giac, hnh thang.
Do cao:
M/en t/n cay:
M/en xac djnh:
Cac dang ham lien thuoc
0 x
1
) ( ~ x
A
m
40 60
x
1
) ( ~ x
A
m
20 40 60 0
M/en xac djnh
M/en t/n cay
) ( sup )
~
( ~ x A hgt
A
X x
m

=
{ } 1 ) ( ~ = = x X x T
A
m
{ } 0 ) ( ~ > = x X x S
A
m
17
n Cac ham lien thuoc co dang tron nhu: dang
gauss, dang chuong dang sigmoid, . t
duoc su dung hon do tnh toan phuc tap.
n Thuong dung ham lien thuoc dang hnh
thang, va hnh tam giac.
Cac dang ham lien thuoc
1
n Tap mo co do cao = 1 goi la tap mo chnh
tac.
Tap mo chnh tac
19
PHEP HOP 2 TAP MO
Cac cong thuc lay hop 2 tap mo:
n Cong thu c Zadeh (thuong dung trong dkhien mo):
n Cong thuc Lukasiewicz (bounded sum):
n Cong thuc Einstein:
n Cong thuc xac suat:
{ } ( ) max ( ), ( )
A B A B
x x x m m m

=
{ } ( ) min 1, ( ) ( )
A B A B
x x x m m m

= +
( ) ( )
( )
1 ( ) ( )
A B
A B
A B
x x
x
x x
m m
m
m m

+
=
+ +
( ) ( ) ( ) ( ) ( )
A B A B A B
x x x x x m m m m m

= + -
Gh/ cha: Tu day ve sau, ta se ch noi ve ta p mo, nen nhung dau nga bieu thi tap
mo tren cac chu cai se duoc bo di de don gian trong cach vie t.
20
PHEP GIAO 2 TAP MO
Cac cong thuc lay giao 2 tap mo:
n Cong thu c Zadeh (thuong dung trong dkhien mo):
n Cong thuc Lukasiewicz:
n Cong thuc Einstein:
n Cong thuc xac suat:
{ } ( ) min ( ), ( )
A B A B
x x x m m m

=
{ } ( ) max 0, ( ) ( ) 1
A B A B
x x x m m m

= + -
( )
( ) ( )
( )
2 ( ) ( ) ( ) ( )
A B
A B
A B A B
x x
x
x x x x
m m
m
m m m m

=
- + -
( ) ( ) ( )
A B A B
x x x m m m

=
21
PHEP BU CUA TAP MO
n Phep bu cua tap mo A duoc xac dinh boi cong
thuc:
( ) 1 ( )
A A
x x m m = -
22
TNH CHAT CUA CAC PHEP TOAN TREN TAP MO
n Tnh giao hoan:
n Tnh ket hop:
n Tnh phan phoi:
n Tnh bat cau:
Nhan xet: tuong tu tap ro.
( ) ( ) A B C A B C =
( ) ( ) A B C A B C =
( ) ( ) ( ) A B C A B A C =
( ) ( ) ( ) A B C A B A C =
A B C A C
A B B A =
A B B A =
23
BIEN NGON NGU ~
GIA TRI NGON NGU
n Muon thiet ke bo dieu khien bat chuoc su suy
ngh, xu ly thong tin va ra quyet dinh cua con
nguoi th phai bieu dien duoc ngon ngu tu nhien
duoi dang toan hoc.
n Dung tap mo de bien dien ngon ngu tu nhien
cho phep bieu dien nhung thong tin mo ho,
khong chac chan.
24
BIEN NGON NGU ~
GIA TRI NGON NGU
n V du bai toan dieu khien toc do xe, ta co nhung
g/a trj ngon nga: slow, OK, fast.
n Moi gia tri ngon ngu duoc xac dinh bang mot
tap mo dinh ngha tren tap co so la tap cac so thuc
duong ch gia tri vat ly x cua bien toc do v.
v (km/h)
40 60
s/ow ok fast
1
m
0
20
25
BIEN NGON NGU ~
GIA TRI NGON NGU
n Ham lien thuoc cua cac tap mo tuong ung la:
m
slow
(x), m
ok
(x), m
fast
(x)
n Bien toc do v co 2 mien gia tri:
n Mien gia tri ngon ngu:
N = {slow, ok, fast
n Mien gia tri vat ly (gia tri ro)
V = {x R R | x 0
n B/en ngon nga la bien toc do v xac dinh tren
mien cac gia tri ngon ngu N.
26
TCH CARTESIAN
Tch cartesian cua 2 tap co so X, Y xac dinh boi:
XY = {(x,y) | x X, y Y
VD: X = {0, 1; Y = {a, b, c. Cac tch cartesian
khac nhau cua 2 tap X, Y duoc xac dinh nhu sau:
XY = {(0,a), (0,b), (0,c), (1,a), (1,b), (1,c)
YX = {(a,0), (a,1), (b,0), (b,1), (c,0), (c,1)
XX = X
2
= {(0,0), (0,1), (1,0), (1,1)
YY = Y
2
= {(a,a), (a,b), (a,c), (b,a), (b,b), (b,c),
(c,a), (c,b), (c,c)
27
QUAN HE RO (CRISP RELATION)
Quan he ro giua tap AX va BY la mot tap tch
cartesian R = AB (R XY), trong do quan he
giua nhung phan tu thuoc X va nhung phan tu thuoc
Y dac trung boi ham dac trung c:
n c
AB
(x, y) = 1 co quan he giua x va y.
n c
AB
(x, y) = 0 khong co quan he giua x va y.
1, ( , )
( , )
0, ( , )
A B
x y A B
x y
x y A B
c


=

2
QUAN HE RO (CRISP RELATION)
Khi cac co so, hay tap hop co so phan tu huu han,
quan he giua chung co the duoc bieu dien duoi
dang mot ma tran goi la ma tran quan he.
VD: Quan he giua X = {1, 2, 3 va Y = {a, b, c
theo so do Sagittal ben duoi duoc bieu dien duoi
dang ma tran quan he R.
1
2
3
a
b
c
1 1 1 0
2 1 0 1
3 1 1 0
a b c
R

=




29
QUAN HE MO (FUZZY RELATION)
Cho A, B la 2 tap mo lan luot dinh ngha tren
tap co so X va Y. Quan he mo giua A va B,
ky hieu la R, la tch cartesian giua A va B:
trong do ham lien thuoc cua R duoc tnh nhu
sau:
, R A B R X Y =
( , ) ( , ) min{ ( ), ( )}
R A B A B
x y x y x y m m m m

= =
30
QUAN HE MO (FUZZY RELATION)
VD: Cho 2 tap A, B lan luot duoc dinh ngha tren
cac tap co so X, Y nhu sau:
Ma tran quan he R:
1 2
1
2
3
0.2 0.2
0.3 0.5
0.3 0.9
y y
x
R A B
x
x

= =




1 2
0.3 0.9
B
y y
= +
1 2 3
0.2 0.5 1
; A
x x x
= + +
31
SU HOP THANH CUA QUAN HE MO
(COMPOSITION OF FUZZY RELATIONS)
n Djnh ngha: Gia su R la quan he mo tren XY, A
la tap mo tren X. Su hop thanh mo giua R va A la
mot tap mo B, ky hieu B = AoR, duoc xac dinh
nhu sau:
trong do: toan tu S la MAX hoac SUM, toan tu T
la MIN hoac PROD.
{ } ( ) ( ) ( ( ), ( , ))
B A R A R
y y S T x x y m m m m = =

32
SU HOP THANH CUA QUAN HE MO
(COMPOSITION OF FUZZY RELATIONS)
n 4 cong thuc hop thanh thuong dung:
n Cong thuc hop thanh MAX-MIN:
n Cong thuc hop thanh MAX-PROD:
n Cong thuc hop thanh SUM-MIN:
n Cong thuc hop thanh SUM-PROD:
{ } ( ) ( ) max min( ( ), ( , ))
B A R A R
x
y y x x y m m m m = =

( ) ( ) max( ( ). ( , ))
B A R A R
x
y y x x y m m m m = =

( ) ( ) min( ( ), ( , ))
B A R A R
x
y y x x y m m m m = =

( ) ( ) ( ). ( , )
B A R A R
x
y y x x y m m m m = =

33
SU HOP THANH CUA QUAN HE MO
(COMPOSITION OF FUZZY RELATIONS)
n Trong dieu khien, thuong su dung cong thuc
MAX-MIN va MAX-PROD
n Y ngha cua su hop thanh cua quan he mo: Khi
biet quan he R tren tap co so XY, ta co the xac
dinh duoc tap mo B co quan he R voi A.
34
SU HOP THANH CUA QUAN HE MO
(COMPOSITION OF FUZZY RELATIONS)
VD: Cho: X
1
= {1, 2, 3, X
2
= {2, 3, 4,
tap mo gan bang 3:
va quan he gan bang:
Xac dinh: B = AoR
0 0.5 1
1 2 3
A = + +
2 3 4
1 0.5 0.33 0.25
2 1 0.67 0.5
3 0.67 1 0.75
R

=




35
LUAT IF-THEN
Cho 2 menh de x = A, y = B. Menh de hop
thanh:
x = A y = B
co the duoc bieu dien duoi dang luat if-
then, R, nhu sau:
R: If x = A then y = B
trong do:
x, y: bien ngon ngu
A, B: gia tri ngon ngu (hang)
36
LUAT IF-THEN
n Moi luat if-then xem nhu la 1 quan he mo.
n Quan he mo duoc tnh toan theo 2 cach:
n dung phep keo theo ma (trong cac ung dung
chuan doan, ra quyet dinh cap cao,.)
n dung phep g/ao ma (trong cac ung dung dieu
khien, mo hnh hoa he thong, xu ly tn hieu,.)
37
LUAT IF-THEN
Bang chan tri cua phep keo theo:
1 1 1
0 0 1
1 1 0
1 0 0
p q q p
Trong logic kinh dien, de keo theo dung:
- Neu p dung, th q phai dung.
- Neu p sai, th khong co ket luan g ve q.
3
LUAT IF-THEN
TRONG DIEU KHIEN MO
n Khi su dung phuong phap giao mo de tnh toan
quan he mo, luat if-then:
If x = A then y = B
duoc dien giai la phep keo theo dung, khi ta co
dong thoi x = A va y = B. quan he co tnh doi
xung.
n Quan he R giua menh de dieu kien va menh de
ket qua duoc xac dinh boi toan tu T:
R = A B m
R
(x,y) = T{m
A
(x,y), m
B
(x,y)
trong do T la MIN hoac PROD.
39
LUAT IF-THEN
TRONG DIEU KHIEN MO
n Su ket hop cac luat (rule aggregation) trong truong hop co
nhieu luat (he luat):
R
i
: If x = A
i
then y = B
i
trong do: i = 1, 2, ., K, quan he R la hop cua cac quan he
R
i
:
S la MAX hoac SUM, T la MIN hoac PROD.
n Sau khi ma hoa he luat thanh quan he mo R, ta co the xac
dinh duoc ngo ra y tu ngo vao x va quan he R bang toan tu
hop thanh (o)nhu sau:
y = x o R
1
1
( , ) { ( ), ( )}
i i
K
i R A B
i K
i
R R x y S T x y m m m

=
= =

!
40
V DU
Xet he dieu khien xe.
Ngo vao: toc do xe.
V = {slow, ok, fast
Ngo ra: do thay doi goc quay buom
xang (ga xe).
DF = {dec, same, inc
He luat dieu khien:
R
1
: If v = slow then Dj = inc
R
2
: If v = ok then Dj = same
R
3
: If v = fast then Dj = dec
r [km/h]
40
ok
1
m
0 12
fast s/ow
6
Dj [do]
0 5
dec same /nc
1
m
-5 -10 10
41
V DU
Roi rac hoa mien ngo vao va ngo ra. Chang han:
X = {0, 15, 30, 45, 60, 75; Y = {-, -4, 0, 4,
0.2
0.
0.0
45
0.7
0.3
0.0
60
1.0 0.0 0.0 0.0 fast
0.0 0.6 0.1 0.0 ok
0.0 0.4 0.9 1.0 s/ow
75 30 15 0 X
0.0
1.0
0.0
0
0.
0.2
0.0
4
0.4
0.0
0.0

0.0 0.0 /nc

0.2 0.0 same
0. 0.4 dec
-4 - Y
42
V DU
Ap dung luat 1, ta co:
1
8 4 0 4 8
0 0.0 0.0 0.0 0.8 0.4
15 0.0 0.0 0.0 0.8 0.4
30 0.0 0.0 0.0 0.4 0.4
45 0.0 0.0 0.0 0.0 0.0
60 0.0 0.0 0.0 0.0 0.0
75 0.0 0.0 0.0 0.0 0.0
R slow inc
- -



= =






0.0 0.0 0.0 0.4 0.9 1.0 s/ow
0.4 0. 0.0 0.0 0.0 /nc
43
V DU
Ap dung luat 2, ta co:
2
8 4 0 4 8
0 0.0 0.0 0.0 0.0 0.0
15 0.0 0.1 0.1 0.1 0.0
30 0.0 0.2 0.6 0.2 0.0
45 0.0 0.2 0.8 0.2 0.0
60 0.0 0.2 0.3 0.2 0.0
75 0.0 0.0 0.0 0.0 0.0
R ok same
- -



= =






0.0 0.3 0. 0.6 0.1 0.0 ok
0.0 0.2 1.0 0.2 0.0 same
44
V DU
Ap dung luat 3, ta co:
3
8 4 0 4 8
0 0.0 0.0 0.0 0.0 0.0
15 0.0 0.0 0.0 0.0 0.0
30 0.0 0.0 0.0 0.0 0.0
45 0.2 0.2 0.0 0.0 0.0
60 0.4 0.7 0.0 0.0 0.0
75 0.4 0.8 0.0 0.0 0.0
R fast dec
- -



= =






1.0 0.7 0.2 0.0 0.0 0.0 fast
0.0 0.0 0.0 0. 0.4 dec
45
V DU
Suy ra:
3
1
8 4 0 4 8
0 0.0 0.0 0.0 0.8 0.4
15 0.0 0.1 0.1 0.8 0.4
30 0.0 0.2 0.6 0.4 0.4
45 0.2 0.2 0.8 0.2 0.0
60 0.4 0.7 0.3 0.2 0.0
75 0.4 0.8 0.0 0.0 0.0
i
i
R R
=
- -



= =






!
46
V DU
Gia su co ngo vao la tap mo:
A' = [ 0 0.5 0.4 0 0 0] (hoi cham)
Xac dinh B = A o R
m
B
(-)= max{min[m
A
(0), m
R
(0,-)], min[m
A
(15), m
R
(15,-)],
min[m
A
(30), m
R
(30,-)], min[m
A
(45), m
R
(45,-)],
min[m
A
(60), m
R
(60,-)],min[m
A
(75), m
R
(75,-)]
= max{min[0, 0], min[0.5, 0],
min[0.4, 0], min[0, 0.2],
min[0, 0.4],min[0, 0.4] = 0
Tuong tu: m
B
(-4) = .; m
B
(0) = .; m
B
(4) = .; m
B
() = .
Ket qua .
B' = [0 0.2 0.4 0.5 0.4] (tang mot t)O2
47
PHUONG PHAP SUY DIEN MAMDANI
(SUY DIEN MAX-MIN)
Cho luat hop thanh R (ket hop tu K luat) xac dinh
theo quy tac MAX-MIN:
trong do la toan tu min tnh tren tch cartesian.
Neu ngo vao la tap mo A, ta xac dinh duoc tap mo
ngo ra B nhu sau:
{ }
1
( , ) max ( ) ( )
i i
R A B
i K
x y x y m m m

=
{ }
' '
( ) max ( ) ( , )]
B A R
X
y x x y m m m =
4
PHUONG PHAP SUY DIEN MAMDANI
(SUY DIEN MAX-MIN)
{ } ' '
1
( ) max max ( ), ( ) ( )
i i
B A A B
i K X
y x x y m m m m

=

Thay cong thuc tnh m
R
(x, y) vao, ta co:
V cac phep toan lay max-min duoc thuc hien tren
cac mien khac nhau, nen ta co the thay doi thu tu
cua chung nhu sau:
{ } ' '
1
( ) max ( ) max ( ) ( )
i i
B A A B
X i K
y x x y m m m m

=

49
PHUONG PHAP SUY DIEN MANDANI
at:
b
i
: do thoa man cua menh de dieu kien trong luat i.
Bieu thuc xac dinh ham lien thuoc cua B duoc viet
gon lai nhu sau:
( )
'
max ( ) ( )
i
i A A
X
x x b m m =
{ }
'
1
( ) max ( )
i
B i B
i K
y y m b m

=
50
PHUONG PHAP SUY DIEN MANDANI
Tom tat phuong phap suy dien Mamdani.
Baac 1: Tnh b
i
.
Neu ngo vao la 1 tap singleton tai x
0
(gia tri ro), th:
Baac 2: Xac dinh tap mo B
i
o ngo ra.
Baac 3: Ket hop cac tap mo ngo ra B
i
.
( )
'
max ( ) ( ) , 1
i
i A A
X
x x i K b m m =
'
( ) ( ), , 1
i i
B i B
y y y Y i K m b m =
' '
1
( ) max ( ),
i
B B
i K
y y y Y m m

=
0
( )
i
i A
x b m =
51
PHUONG PHAP SUY DIEN MAMDANI
VD:
R
1
: If x = A
1
then y = B
3
R
2
: If x = A
2
then y = B
2
R
3
: If x = A
3
then y = B
1
x = A y = B
y
m
B'
x
A
2
1
m
A
3
A
1
y
B
1
B
2
B
3
m
b
1
b
2
b
3
A'
B'
3
B'
2
B'
1
52
Bai tap
n Xet bai toan dieu khien toc do xe.
1. Xac dinh tap mo ngo ra B khi ngo vao la tap mo
A = tri(50, 55, 60) (hoi nhanh).
2. Xac dinh tap mo ngo ra B khi ngo vao la tap
singleton x
0
= 55
Ghi chu: ham lien thuoc cua tap singleton tai x
0
:
0
singleton
0
1,
( )
0,
x x
x
x x
m
=
=

53
GIAI MO (DEFUZZIFICATION)
n G/a/ ma la bien doi mot tap mo (gia tri ngon ngu)
sang mot gia tri ro (gia tri vat ly).
n Tm gia tri ro the hien tot nhat gia tri mo.
n Khong co co so ly thuyet nao giup ta chon phuong
phap giai mo.
n Viec chon pp giai mo thuong dua vao dac tnh cua
tung ung dung.
n 2 phuong phap giai mo chnh:
n Trong tam (center of area - COA)
n Trung bnh cuc dai (mean of maximum - MOM)
54
GIAI MO (DEFUZZIFICATION)
n Phaang phap
trong tam (COA)
duoc su dung nhieu
nhat trong cac ung
dung dieu khien.
Nhuoc diem la tnh
toan phuc tap.
( ).
*
( )
B
B
y ydy
y
y dy
m
m
=

55
GIAI MO (DEFUZZIFICATION)
n Phaang phap
trang bnh cac da/
(MOM): cho ket qua
la gia tri dai dien cho
nhung tac dong ma
co ham lien thuoc
dat cuc dai.
*
2
a b
y
+
=
56
GIAI MO (DEFUZZIFICATION)
n Phaang phap
do cao (nguyen
ly do phu thuoc
cuc dai)
( *) ( ),
B B
y y y Y m m "
57
GIAI MO (DEFUZZIFICATION)
n Phaang phap trang
bnh trong so
(weighted average
method)
n Ch su dung khi
cac ham lien thuoc
ngo ra doi xung.
n Cho ket qua gan
voi phuong phap
COA.
n Tnh toan t.
( ).
*
( )
(0.5) (0.9)
0.5 0.9
B
B
y y
y
y
a b
m
m
=
+
=
+

5
GIAI MO (DEFUZZIFICATION)
n Phaang phap phan
rang bang nhaa
(Bisector of Area - BOA):
y` duoc xac dinh boi
duong thang chia tap mo
ngo ra thanh 2 vung co
dien tch bang nhau.
*
*
( ) ( )
min{ | }
max{ | }
y
B B
y
y dy y dy
y y Y
y y Y
b
a
m m
a
b
=
=
=

59
GIAI MO (DEFUZZIFICATION)
n Phaang phap can
tra//pha/ caa cac da/
(Smallest/Largest of
Maximum - SOM/LOM)
{ } inf | ( )
l B
y
y y Y hgt B m = =
( ) sup ( )
B
y Y
hgt B y m

=
trong do hgt(B) la do cao cua tap mo B.
{ } sup | ( )
r B
y
y y Y hgt B m = =
60
SO SANH KET QUA CAC PP GIAI MO
61
DIEU KHIEN MO
n ieu khien duoc thuc hien dua tren ly
thuyet logic mo goi la d/ea kh/en ma.
n He dieu khien mo cho phep dua cac kinh
nghiem dieu khien cua chuyen gia vao
thuat toan dieu khien.
n Chat luong dieu khien mo phu thuoc rat
nhieu vao kinh nghiem cua nguoi thiet ke.
62
DIEU KHIEN MO
n ieu khien mo co the manh trong cac he
thong sau:
n He thong dieu khien phi tuyen
n He thong dieu khien ma cac thong tin dau vao
/ dau ra khong du hoac khong chnh xac.
n He thong dieu khien kho xac dinh hoac khong
xac dinh duoc mo hnh doi tuong
63
DIEU KHIEN MO
n So do dieu khien co nhieu dang khac nhau. Duoi
day la mot so do dieu khien don gian thuong
gap, trong do bo dieu khien mo duoc dung thay
cho bo dieu khien kinh dien.
Bo d/ea
kh/en ma
Do/ taang
d/ea kh/en
-
e u y r
64
CAU TRUC BO DIEU KHIEN MO
n Bo dieu khien mo co ban gom 4 khoi: ma hoa, he
/aat ma, th/et bj hap thanh, g/a/ ma .
n Khi ghep bo dieu khien mo vao he thong, thuong
ta can them 2 khoi t/en xa /y va haa xa /y.
He /aat ma
Th/et bj
hap thanh
Ma
hoa
G/a/
ma
e a
Bo dieu khien mo co ban
T/en
xa /y
Haa
xa /y
65
CAU TRUC BO DIEU KHIEN MO
n Ma hoa: bien gia tri ro dau vao thanh gia tri mo.
n He /aat ma: tap cac luat If-then. ay la bo
nao cua bo dieu khien mo. Luat mo If-then
co 2 dang: luat mo Mamdani va luat mo Sugeno.
n Th/et bj hap thanh: bien doi cac gia tri da duoc
mo hoa o dau vao thanh cac gia tri mo dau ra
theo cac luat hop thanh nao do.
n G/a/ ma: bien gia tri mo dau ra cua khoi thiet bi
hop thanh thanh gia tri ro.
66
CAU TRUC BO DIEU KHIEN MO
n T/en xa /y: xu ly tn hieu truoc khi di vao
bo dieu khien mo co ban.
n Luong tu hoa hoac lam tron gia tri do.
n Chuan hoa hoac chuyen t le gia tri do vao
tam gia tri chuan.
n Loc nhieu.
n Lay vi phan hay tch phan.
67
CAU TRUC BO DIEU KHIEN MO
n Haa xa /y: xu ly tn hieu ngo ra cua bo
dieu khien mo co ban.
n Chuyen t le gia tri ngo ra cua bo dieu khien
mo co ban (trong truong hop ngo ra dinh
ngha tren tap co so chuan) thanh gia tri vat
ly.
n oi khi co khau tch phan.
6
BO DIEU KHIEN MO MAMDANI
n Bo d/ea kh/en ma Mamdan/ la bo dieu khien mo dua
tren cac luat mo Mamdani.
Laat ma Mamdan/.
If (x
1
= A
1
) AND (x
2
= A
2
) AND.AND (x
n
= A
n
)
then y = B
trong do A
i
, B la cac tap mo.
(NX: ieu kien va ket luan deu la nhung menh de mo.)
69
BO DIEU KHIEN MO SUGENO
n Bo d/ea kh/en ma Sageno la bo dieu khien mo dua tren
cac luat mo Sugeno.
Laat ma Sageno (Takag/-Sageno).
If (x
1
= A
1
) AND (x
2
= A
2
) AND. AND (x
n
= A
n
)
then y = f(x
1
, x
2
, ., x
n
)
trong do:
A
i
la cac tap mo,
f(.) la ham cua cac tn hieu vao (ham ro).
(NX: ieu kien la menh de mo; ket luan la ham ro.)
70
BO DIEU KHIEN MO SUGENO
n Phuong phap giai mo dung trong BK mo Sugeno
la tong co trong so (weighted sum).
trong do:
b
i
: do cao cua tap mo ket qua trong
menh de dieu kien cua luat i.
K: so luat.
1
1
K
i i
i
K
i
i
y
y
b
b
=
=
=

71
VD: BO DIEU KHIEN MO SUGENO
A
11
b
1
x
1
b
2
x
2
x
1
x
2
A
21
A
12
A
22
x
1
= 2 x
2
= 3
MIN
hoac
PROD
y
1
= p
1
x
1
+ q
1
x
2
+ r
1
y
2
= p
2
x
1
+ q
2
x
2
+ r
2
1 1 2 2
1 2
y y
y
b b
b b
+
=
+
If (x
1
= A
11
)AND(x
2
= A
21
) then y
1
= p
1
x
1
+ q
1
x
2
+ r
1
If (x
1
= A
12
)AND(x
2
= A
22
) then y
2
= p
2
x
1
+ q
2
x
2
+ r
2
72
SO SANH
n BK mo Mamdani thch hop de dieu khien
cac doi tuong khong xac dinh duoc mo hnh.
n BK mo Sugeno thch hop de dieu khien
cac doi tuong co mo hnh khong chnh xac,
hoac mo hnh phi tuyen duoc tuyen tnh hoa
tung doan.
n BK mo Mamdani co phan ket luan trong
he luat la cac tap mo dang singleton cung
chnh la BK mo Sugeno co he luat ma
phan ket luan la hang so.
73
FUZZY LOGIC TOOLBOX
(tu tm hieu)
74
HE DIEU KHIEN MO LAI
(hybrid fuy contro system)
n He dieu khien mo lai: ket hop giua dieu kinh
dien va dieu khien mo.
Bo d/ea kh/en
PID
Do/ taang
d/ea kh/en
-
e u y r
Bo ch/nh
djnh ma
Th/et bj
ch/nh djnh