Exercises and Examples of Fuzzy Logic Controller Using Toolbox and M File of Matlab

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Exercises and Examples of Fuzzy Logic Controller Using Toolbox and M File of
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Exercises and Examples of Fuzzy Logic Controller Using Toolbox and M File of MATLAB
Dr. Mohammad Ali

Department of Electrical & Electronic EngineeringTel, University of
Nottingham Malaysia Campus Jalan Broga, 43500 Semenyih, Selangor Darul
Ehsan, Malaysia
+60-3-89212020
Email: ali.abbas@nottingham.edu.my
Matlab and Simulink are used in exercise in fuzzy logic Toolbox to control the temperature of an
oven. fuzzy logic Controller is a control system based on fuzzy logic which takes continuous
values for some logic
clear% Clear all variables in memory
% Initialize ship parameters
% (can test two conditions, ‘‘ballast" or ‘‘full"):
ell=350; % Length of the ship (in meters)
u=5; % Nominal speed (in meters/sec)
% u=3; % A lower speed where the ship is more difficult to control
abar=1; % Parameters for nonlinearity
bbar=1;
% The parameters for the tanker under ‘‘ballast" conditions
% (a heavy ship) are:
K_0=5.88;
tau_10=-16.91;
tau_20=0.45;
tau_30=1.43;
% The parameters for the tanker under ‘‘full" conditions (a ship
% that weighs less than one under ‘‘ballast" conditions) are:
% K_0=0.83;
% tau_10=-2.88;
% tau_20=0.38;
% tau_30=1.07;
% Some other parameters are:
K=K_0*(u/ell);
tau_1=tau_10*(ell/u);
% Initialize parameters for the fuzzy controller
nume=11; % Number of input membership functions for the e
% universe of discourse (can change this but must also
% change some variables below if you make such a change)
numc=11; % Number of input membership functions for the c
% Next, we define the scaling gains for tuning membership functions for
% universes of discourse for e, change in e (what we call c) and
% delta. These are g1, g2, and g0, respectively
% These can be tuned to try to improve the performance.
% First guess:
g1=.05/pi;g2=300;g0=8*pi/18; % Chosen since:
% g1: The heading error is at most 180 deg (pi rad)
% g2: Just a guess - that ship heading will change at most
% by 0.01 rad/sec (0.57 deg/sec)
% g0: Since the rudder is constrained to move between +-80 deg
% Tuning:
%g1=1/pi;g2=200;g0=8*pi/18; % Try to reduce the overshoot
%g1=2/pi;g2=250;g0=8*pi/18; % Try to speed up the response
% g1=2/pi;,g2=0.000001;,g0=2000*pi/18; % Values tuned to get oscillation
% (limit cycle) for COG, ballast, and nominal speed with no sensor
% noise or rudder disturbance):
% g1: Leave as before
% g2: Essentially turn off the derivative gain
% since this help induce an oscillation
% g0: Make this big to force the limit cycle
% In this case simulate for 16,000 sec.
% g1=2/pi;,g2=250;,g0=-8*pi/18; % Values tuned to get an instability
% g0: Make this negative so that when there
% is an error the rudder will drive the
% heading in the direction to increase the error
% Next, define some parameters for the membership functions
we=0.2*(1/g1);
% we is half the width of the triangular input membership
% function bases (note that if you change g0, the base width
% will correspondingly change so that we always end
% up with uniformly distributed input membership functions)
% Note that if you change nume you will need to adjust the
% ‘‘0.2" factor if you want membership functions that
% overlap in the same way.
wc=0.2*(1/g2);
% Similar to we but for the c universe of discourse
base=0.4*g0;
% Base width of output membership fuctions of the fuzzy
% controller
% Place centers of membership functions of the fuzzy controller:
% Centers of input membership functions for the e universe of
% discourse of fuzzy controller (a vector of centers)
ce=[-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1]*(1/g1);
% Centers of input membership functions for the c universe of
cc=[-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1]*(1/g2);
% This next matrix specifies the rules of the fuzzy controller.
% The entries are the centers of the output membership functions.
% This choice represents just one guess on how to synthesize
% the fuzzy controller. Notice the regularity
% of the pattern of rules. Notice that it is scaled by g0, the
% output scaling factor, since it is a normalized rule base.
% The rule base can be tuned to try to improve performance.
rules=[...
1 1 1 1 1 1 0.8 0.6 0.3 0.1 0;
1 1 1 1 1 0.8 0.6 0.3 0.1 0 -0.1;
1 1 1 1 0.8 0.6 0.3 0.1 0 -0.1 -0.3;
1 1 1 0.8 0.6 0.3 0.1 0 -0.1 -0.3 -0.6;
1 1 0.8 0.6 0.3 0.1 0 -0.1 -0.3 -0.6 -0.8;
1 0.8 0.6 0.3 0.1 0 0.1 -0.3 -0.6 -0.8 -1;
0.8 0.6 0.3 0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1;
0.6 0.3 0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1;
0.3 0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1 -1;
0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1 -1 -1;
0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1 -1 -1 -1]*g0;
% Now, you can proceed to do the simulation or simply view the nonlinear
% surface generated by the fuzzy controller.
flag1=input('\ n Do you want to simulate the \ n fuzzy control system \ n for
the tanker? \ n (type 1 for yes and 0 for no) ');
if flag1==1,
% Next, we initialize the simulation:
t=0; % Reset time to zero
index=1; % This is time's index (not time, its index).
tstop=4000; % Stopping time for the simulation (in
% seconds)
step=1; % Integration step size
T=10;% The controller is implemented in discrete
% time and
% this is the sampling time for the
% controller.
% Note that the integration step size
% and the sampling
% time are not the same. In this way
% we seek to simulate
% the continuous time system via the
% Runge-Kutta method and
% the discrete time fuzzy controller as
% if it were
% implemented by a digital computer.
% Hence, we sample
% the plant output every T seconds
% and at that time
% output a new value of the controller
% output.
counter=10; % This counter will be used to count the
% number of integration
% steps that have been taken in the current
% sampling interval.
% Set it to 10 to begin so that it will
% compute a fuzzy controller
% output at the first step.
% For our example, when 10 integration steps
% have been
% taken we will then we will sample the ship
% heading
% and the reference heading and compute a
% new output
% for the fuzzy controller.
eold=0; % Initialize the past value of the error (for
% use in computing the change of the error, c).
% Notice
% that this is somewhat of an arbitrary choice since
% there is no last time step. The same
% problem is encountered in implementation.
x=[0;0;0]; % First, set the state to be a vector
x(1)=0; % Set the initial heading to be zero
x(2)=0; % Set the initial heading rate to be zero.
% We would also like to set x(3) initially
% but this must be done after we have computed the
% output of the fuzzy controller. In this case,
% by choosing the reference trajectory to be
% zero at the beginning and the other
% initial conditions as they are, and the fuzzy controller as
% designed, we will know that the output of the
% fuzzy controller
% will start out at zero so we could have
% set
% x(3)=0 here. To keep things more general,
% however,
% we set the intial condition immediately
% after
% we compute the first controller output
% in the
% loop below.
psi_r_old=0; % Initialize the reference trajectory
% Next, we start the simulation of the system.
% This is the main loop for the simulation of fuzzy
% control system.
while t <= tstop
% First, we define the reference input psi_r (desired
% heading).
if t<100, psi_r(index)=0; end
% Request heading of 0 deg
if t>=100, psi_r(index)=45*(pi/180); end
if t>2000, psi_r(index)=0; end
% Then request heading of 0 deg
% if t>4000, psi r(index)=45*(pi/180); end
% if t>6000, psi r(index)=0; end
% Next, suppose that there is sensor noise for the
% heading sensor with that is additive, with a uniform
% distribution on [- 0.01,+0.01] deg.
% s(index)=0.01*(pi/180)*(2*rand-1);
s(index)=0; % This allows us to remove the noise.
psi(index)=x(1)+s(index);
% Heading of the ship (possibly with sensor noise).
if counter == 10,
% When the counter reaches 10 then execute the
% fuzzy controller
counter=0; % First, reset the counter
% Fuzzy controller calculations:
% First, for the given fuzzy controller inputs we
% determine the extent at which the error membership
% functions of the fuzzy controller are on
% (this is the fuzzification part).
c_count=0;e_count=0;
% These are used to count the
% number of non-zero mf
% certainities of e and c
e(index)=psi_r(index)-psi(index);
% Calculates the error input for
% the fuzzy controller
c(index)=(e(index)-eold)/T; % Sets the value of c
eold=e(index); % Save the past value of e for
% use in the above computation the
% next time around the loop
% The following if-then structure fills the vector mfe
% with the certainty of each membership fucntion of e
% for the current input e. We use triangular
% membership functions.
if e(index)<=ce(1)
% Takes care of saturation of the left-most
% membership function
mfe=[1 0 0 0 0 0 0 0 0 0 0];
% i.e., the only one on is the
% left-most one
e_count=e_count+1;e_int=1;
% One mf on, it is the
% left-most one.
elseif e(index) >=ce(nume)
% Takes care of saturation
% of the right-most mf
mfe=[0 0 0 0 0 0 0 0 0 0 1];
e_count=e_count+1;e_int=nume;
% right-most one
else
% In this case the input is on the middle
% part of the universe of discourse for e
% Next, we are going to cycle through the mfs
% to find all that are on
for i=1:nume
if e(index)<=ce(i)
mfe(i)=max([0 1+(e(index)-ce(i))/we]);
% In this case the input is to the
% left of the center ce(i) and we compute
% the value of the mf centered at ce(i)
% for this input e
if mfe(i)~=0
% If the certainty is not equal to zero then say
% that have one mf on by incrementing our count
e_count=e_count+1;
e_int=i; % This term holds the index last entry
% with a non-zero term
end
else
mfe(i)=max([0,1+(ce(i)-e(index))/we]);
% right of the center ce (i)
if mfe(i)~=0
e_count=e_count+1;
e_int=i; % This term holds the index of the
% last entry with a non-zero ter
end
end
end
end
% The following if-then structure fills the vector mfc
% with the certainty of each membership fucntion of the c
% for its current value (to understand this part of the
% code see the above similar code for computing mfe).
% Clearly, it could be more efficient to make a subroutine
% that performs these computations for each of the fuzzy
% system inputs.
if c(index)<=cc(1)
% Takes care of saturation of left-most mf
mfc=[1 0 0 0 0 0 0 0 0 0 0];
c_count=c_count+1;
c_int=1;
elseif c(index)>=cc(numc)
% Takes care of saturation of the right-most mf
mfc=[0 0 0 0 0 0 0 0 0 0 1];
c_count=c_count+1;
c_int=numc;
else
for i=1:numc
if c(index)<=cc(i)
mfc(i)=max([0,1+(c(index)-cc(i))/wc]);
if mfc(i)~=0
c_count=c_count+1;
c_int=i;
% This term holds last entry
end
end
end
end
% The next two loops calculate the crisp output using
% only the non- zero premise of error,e, and c. This
% cuts down computation time since we will only compute
% the contribution from the rules that are on (i.e., a
% maximum of four rules for our case). The minimum
% is center-of-gravity used for the premise
% (and implication for the defuzzification case).
num=0;
den=0;
for k=(e_int-e_count+1):e_int
% Scan over e indices of mfs that are on
for l=(c_int-c_count+1):c_int
% Scan over c indices of mfs that are on
prem=min([mfe(k) mfc(l)]);
% Value of premise membership function
% This next calculation of num adds up the numerator for
% the center of gravity defuzzification formula.
% rules(k,l) is the output center for the rule.
% base*(prem-(prem)^ 2/2) is the area of a symmetric
% triangle that peaks at one with base width ‘‘base"
% and that is chopped off at a height of prem (since
% we use minimum to represent the implication).
% Computation of den is similar but without rules(k,l).
num=num+rules(k,l)*base*(prem-(prem)^2/2);
den=den+base*(prem-(prem)^2/2);
% To do the same computations, but for center-average
% defuzzification, use the following lines of code rather
% than the two above (notice that in this case we did not
% use any information about the output membership function
% shapes, just their centers; also, note that the
% computations are slightly simpler for the center-average
% defuzzificaton):
% num=num+rules(k,l)*prem;
% den=den+prem;
end
end
delta(index)=num/den;
% Crisp output of fuzzy controller that is the input
% to the plant.
else
% This goes with the ‘‘if" statement to check if the
% counter=10 so the next lines up to the next ‘‘end"
% statement are executed whenever counter is not
% equal to 10
% Now, even though we do not compute the fuzzy
% controller at eachtime instant, we do want to
% save the data at its inputs and output at each time
% instant for the sake of plotting it. Hence, we need to
% compute these here (note that we simply hold the
% values constant):
e(index)=e(index-1);
c(index)=c(index-1);
delta(index)=delta(index-1);
end
% This is the end statement for the ‘‘if counter=10" statement
% Now, for the first step, we set the initial
% condition for the third state x(3).
if t==0, x(3)=-(K*tau_3/(tau_1*tau_2))*delta(index); end
% Next, the Runge-Kutta equations are used to find the
% next state. Clearly, it would be better to use a Matlab
% ‘‘function" for F (but here we do not, so we can have only
% one program).
time(index)=t;
% First, we define a wind disturbance against the body
% of the ship that has the effect of pressing water
% against the rudder
% w(index)=0.5*(pi/180)*sin(2*pi*0.001*t); % This is an
% additive sine disturbance to the rudder input. It
% is of amplitude of 0.5 deg. and its period is 1000sec.
% delta(index)=delta(index)+w(index);
% Next, implement the nonlinearity where the rudder angle
% is saturated at +-80 degrees
if delta(index) >= 80*(pi/180), delta(index)=80*(pi/180);
end
if delta(index) <= -80*(pi/180), delta(index)=-80*(pi/180);
end
% Next, we use the formulas to implement the Runge-Kutta
% method (note that here only an approximation to the
% method is implemented where we do not compute the
% function at multiple points in the integration step size).
xx1= x(2);
xx2=x(3)+(K*tau_3/(tau_1*tau_2))*delta(index);
xx3=-((1/tau_1)+(1/tau_2))*(x(3)+ (K*tau_3/(tau_1*tau_2))*delta(index))-...
(1/(tau_1*tau_2))*(abar*x(2)^3 + bbar*x(2)) +(K/(tau_1*tau_2))*delta(index);
F=[xx1;xx2;xx3 ];
k1=step*F;
xnew=x+k1/2;
xx1= x(2);
xx2=xnew(3)+ (K*tau_3/(tau_1*tau_2))*delta(index);
xx3=-((1/tau_1)+(1/tau_2))*(xnew(3))+ (K*tau_3/(tau_1*tau_2))*delta(index)-
...
(1/(tau_1*tau_2))*(abar*xnew(2)^ 3 + bbar*xnew(2))
+(K/(tau_1*tau_2))*delta(index);
F=[xx1;xx2;xx3 ];
k2=step*F;
xnew=x+k2/2;
F=[ xnew(2) ;
xnew(3)+ (K*tau_3/(tau_1*tau_2))*delta(index) ;
-((1/tau_1)+(1/tau_2))*(xnew(3)+(K*tau_3/(tau_1*tau_2))*delta(index))-...
(1/(tau_1*tau_2))*(abar*xnew(2)^ 3 + bbar*xnew(2))+
(K/(tau_1*tau_2))*delta(index) ];
k3=step*F;
xnew=x+k3;
F=[ xnew(2) ;
k4=step*F;
x=x+(1/6)*(k1+2*k2+2*k3+k4); % Calculated next state
t=t+step; % Increments time
index=index+1; % Increments the indexing term so that
% index=1 corresponds to time t=0.
counter=counter+1; % Indicates that we computed one more
% integration step
end % This end statement goes with the first ‘‘while"
% statement in the program so when this is complete the simulation is done.
%
% Next, we provide plots of the input and output of the
% ship along with the reference heading that we want
%to track. Also, we plot the two inputs to the
% fuzzy controller.
%
% First, we convert from rad. to degrees
psi_r=psi_r*(180/pi);
psi=psi*(180/pi);
delta=delta*(180/pi);
e=e*(180/pi);
c=c*(180/pi);
% Next, we provide plots of data from the simulation
figure(1)
clf
subplot(211)
plot(time,psi,'k-',time,psi_r,'k--')
% grid on
xlabel('Time (sec)')
title('Ship heading (solid) and desired ship heading(dashed), deg.')
subplot(212)
plot(time,delta,'k-')
% grid on
title('Rudder angle (?), deg.')
zoom
figure(2)
clf
subplot(211)
plot(time,e,'k-')
% grid on
title('Ship heading error between ship heading and desired heading, deg.')
subplot(212)
plot(time,c,'k-')
% grid on
title('Change in ship heading error, deg./sec')
zoom
end % This ends the if statement (on flag1) on whether
% you want to do a simulation or just
% see the control surface
% % % % % % % % % % % % % % % % %
% Next, provide a plot of the fuzzy controller surface:
% % % % % % % % % % % % % % % % %
% Request input from the user to see if they want to
% see the controller mapping:
flag2=input('\ n Do you want to see the nonlinear\ n mapping implemented by
the fuzzy \ n controller? \ n (type 1 for yes and 0 for no) ');
if flag2==1,
% First, compute vectors with points over the whole range
% of the fuzzy controller inputs plus 20% over the end of
% the range and put 100 points in each vector
e_input=(-(1/g1)-0.2*(1/g1)):(1/100)*(((1/g1)+ 0.2*(1/g1))-(-(1/g1)-...
0.2*(1/g1))):((1/g1)+0.2*(1/g1));
ce_input=(-(1/g2)-0.2*(1/g2)):(1/100)*(((1/g2)+ 0.2*(1/g2))-(-(1/g2)-...
0.2*(1/g2))):((1/g2)+0.2*(1/g2));
% Next, compute the fuzzy controller output for all
% these inputs
for jj=1:length(e_input)
for ii=1:length(ce_input)
c_count=0;e_count=0; % These are used to count the
% number of non-zero mf certainities of e and c
if e_input(jj)<=ce(1)
mfe=[1 0 0 0 0 0 0 0 0 0 0]; % i.e.,the only one on is the left-most one
e_count=e_count+1;e_int=1; % One mf on, it is the left-most one.
elseif e_input(jj)>=ce(nume)
mfe=[0 0 0 0 0 0 0 0 0 0 1];
e_count=e_count+1;e_int=nume; % One mf on, it is the right-most one
else
% In this case the input is on the
% middle part of the universe of
% discourse for e Next, we are going to
% cycle through the mfs to find all
% that are on
for i=1:nume
if e_input(jj)<=ce(i)
mfe(i)=max([0 1+(e_input(jj)-ce(i))/we]);
% for this input e
if mfe(i)~=0
e_count=e_count+1;
e_int=i;
% This term holds the index last entry with a non-zero term
end
else
mfe(i)=max([0,1+(ce(i)-e_input(jj))/we]);
% In this case the input is to the right of the center ce(i)
if mfe(i)~=0
e_count=e_count+1;
e_int=i;
% This term holds the index of the last entry with a non-zero term
end
end
end
end
% for its current value.
if ce_input(ii)<=cc(1)
mfc=[1 0 0 0 0 0 0 0 0 0 0];
c_count=c_count+1;
c_int=1;
elseif ce_input(ii)>=cc(numc)
mfc=[0 0 0 0 0 0 0 0 0 0 1];
c_count=c_count+1;
c_int=numc;
else
for i=1:numc
if ce_input(ii)<=cc(i)
mfc(i)=max([0,1+(ce_input(ii)-cc(i))/wc]);
if mfc(i)~=0
c_count=c_count+1;
c_int=i; % This term holds last entry with a non-zero term
end
else
mfc(i)=max([0,1+(cc(i)-ce_input(ii))/wc]);
if mfc(i)~=0
c_count=c_count+1;
c_int=i;% This term holds last entry with a non-zero term
end
end
end
end
% The next loops calculate the crisp output using only
% the non-zero premise of error,e, and c.
num=0;
den=0;
% This next calculation of num adds up the numerator
% for the center of gravity defuzzification formula.
% than the two above:
% den=den+prem;
end
end
delta_output(ii,jj)=num/den;
% to the plant.
end
end
% Convert from radians to degrees:
delta_output=delta_output*(180/pi);
e_input=e_input*(180/pi);
ce_input=ce_input*(180/pi);
% Plot the controller map
figure(3)
clf
surf(e_input,ce_input,delta_output);
view(145,30);
colormap(white);
xlabel('Heading error (e), deg.');
ylabel('Change in heading error (c), deg.');
zlabel('Fuzzy controller output (?), deg.');
title('Fuzzy controller mapping between inputs and output');
end
% % % % % % % % % % % % % % % % % % % % % % % % % %
%
% End of program %
% % % % % % % % % % % % % % % % % % % % % % % % % % %
Design of Fuzzy Logic Controller for Temperature Control of an Oven
clear% Clear all variables in memory

% Initialize ship parameters
% (can test two conditions, ‘‘ballast" or ‘‘full"):
ell=350; % Length of the ship (in meters)
u=5; % Nominal speed (in meters/sec)
% u=3; % A lower speed where the ship is more difficult to control
abar=1; % Parameters for nonlinearity
bbar=1;
% The parameters for the tanker under ‘‘ballast" conditions
% (a heavy ship) are:
K_0=5.88;
tau_10=-16.91;
tau_20=0.45;
tau_30=1.43;
% The parameters for the tanker under ‘‘full" conditions (a ship
% that weighs less than one under ‘‘ballast" conditions) are:
% K_0=0.83;
% tau_10=-2.88;
% tau_20=0.38;
% tau_30=1.07;
% Some other parameters are:
K=K_0*(u/ell);
% Initialize parameters for the fuzzy controller
nume=11; % Number of input membership functions for the e
numc=11; % Number of input membership functions for the c
% Next, we define the scaling gains for tuning membership functions for
% universes of discourse for e, change in e (what we call c) and
% delta. These are g1, g2, and g0, respectively
% These can be tuned to try to improve the performance.
% First guess:
g1=.05/pi;g2=300;g0=8*pi/18; % Chosen since:
% g1: The heading error is at most 180 deg (pi rad)
% g2: Just a guess - that ship heading will change at most
% by 0.01 rad/sec (0.57 deg/sec)
% g0: Since the rudder is constrained to move between +-80 deg
% Tuning:
%g1=1/pi;g2=200;g0=8*pi/18; % Try to reduce the overshoot
%g1=2/pi;g2=250;g0=8*pi/18; % Try to speed up the response
% g1=2/pi;,g2=0.000001;,g0=2000*pi/18; % Values tuned to get oscillation
% (limit cycle) for COG, ballast, and nominal speed with no sensor
% noise or rudder disturbance):
% g1: Leave as before
% g2: Essentially turn off the derivative gain
% since this help induce an oscillation
% g0: Make this big to force the limit cycle
% In this case simulate for 16,000 sec.
% g1=2/pi;,g2=250;,g0=-8*pi/18; % Values tuned to get an instability
% g0: Make this negative so that when there
% is an error the rudder will drive the
% heading in the direction to increase the error
% Next, define some parameters for the membership functions

we=0.2*(1/g1);
% we is half the width of the triangular input membership
% function bases (note that if you change g0, the base width
% will correspondingly change so that we always end
% up with uniformly distributed input membership functions)
% Note that if you change nume you will need to adjust the
% ‘‘0.2" factor if you want membership functions that
% overlap in the same way.
wc=0.2*(1/g2);
% Similar to we but for the c universe of discourse
base=0.4*g0;
% Base width of output membership fuctions of the fuzzy
% controller
% Place centers of membership functions of the fuzzy controller:
% Centers of input membership functions for the e universe of
ce=[-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1]*(1/g1);
% Centers of input membership functions for the c universe of
cc=[-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1]*(1/g2);
% This next matrix specifies the rules of the fuzzy controller.
% The entries are the centers of the output membership functions.
% This choice represents just one guess on how to synthesize
% the fuzzy controller. Notice the regularity
% of the pattern of rules. Notice that it is scaled by g0, the
% output scaling factor, since it is a normalized rule base.
% The rule base can be tuned to try to improve performance.
rules=[...
1 1 1 1 1 1 0.8 0.6 0.3 0.1 0;
1 1 1 1 1 0.8 0.6 0.3 0.1 0 -0.1;
1 1 1 1 0.8 0.6 0.3 0.1 0 -0.1 -0.3;
1 1 1 0.8 0.6 0.3 0.1 0 -0.1 -0.3 -0.6;
1 1 0.8 0.6 0.3 0.1 0 -0.1 -0.3 -0.6 -0.8;
1 0.8 0.6 0.3 0.1 0 0.1 -0.3 -0.6 -0.8 -1;
0.8 0.6 0.3 0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1;
0.6 0.3 0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1;
0.3 0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1 -1;
0.1 0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1 -1 -1;
0 -0.1 -0.3 -0.6 -0.8 -1 -1 -1 -1 -1 -1]*g0;
% Now, you can proceed to do the simulation or simply view the nonlinear
% surface generated by the fuzzy controller.
flag1=input('\ n Do you want to simulate the \ n fuzzy control system \ n for
the tanker? \ n (type 1 for yes and 0 for no) ');
if flag1==1,
% Next, we initialize the simulation:
t=0; % Reset time to zero
index=1; % This is time's index (not time, its index).
tstop=4000; % Stopping time for the simulation (in
% seconds)
step=1; % Integration step size
T=10;% The controller is implemented in discrete
% time and
% this is the sampling time for the
% controller.
% Note that the integration step size
% and the sampling
% time are not the same. In this way
% we seek to simulate
% the continuous time system via the
% Runge-Kutta method and
% the discrete time fuzzy controller as
% if it were
% implemented by a digital computer.
% Hence, we sample
% the plant output every T seconds
% and at that time
% output a new value of the controller
% output.
counter=10; % This counter will be used to count the
% number of integration
% steps that have been taken in the current
% sampling interval.
% Set it to 10 to begin so that it will
% compute a fuzzy controller
% output at the first step.
% For our example, when 10 integration steps
% have been
% taken we will then we will sample the ship
% heading
% and the reference heading and compute a
% new output
% for the fuzzy controller.
eold=0; % Initialize the past value of the error (for
% use in computing the change of the error, c).
% Notice
% that this is somewhat of an arbitrary choice since
% there is no last time step. The same
% problem is encountered in implementation.
x=[0;0;0]; % First, set the state to be a vector
x(1)=0; % Set the initial heading to be zero
x(2)=0; % Set the initial heading rate to be zero.
% We would also like to set x(3) initially
% but this must be done after we have computed the
% output of the fuzzy controller. In this case,
% by choosing the reference trajectory to be
% zero at the beginning and the other
% initial conditions as they are, and the fuzzy controller as
% designed, we will know that the output of the
% fuzzy controller
% will start out at zero so we could have
% set
% x(3)=0 here. To keep things more general,
% however,
% we set the intial condition immediately
% after
% we compute the first controller output
% in the
% loop below.
psi_r_old=0; % Initialize the reference trajectory
% Next, we start the simulation of the system.
% This is the main loop for the simulation of fuzzy
% control system.
*while t <= tstop
% First, we define the reference input psi_r (desired
% heading).
if t<100, psi_r(index)=0; end
if t>=100, psi_r(index)=45*(pi/180); end
if t>2000, psi_r(index)=0; end
% Next, suppose that there is sensor noise for the
% heading sensor with that is additive, with a uniform
% distribution on [- 0.01,+0.01] deg.
% s(index)=0.01*(pi/180)*(2*rand-1);
s(index)=0; % This allows us to remove the noise.
psi(index)=x(1)+s(index);
% Heading of the ship (possibly with sensor noise).
if counter == 10,
% When the counter reaches 10 then execute the
% fuzzy controller
counter=0; % First, reset the counter
% Fuzzy controller calculations:
% First, for the given fuzzy controller inputs we
% determine the extent at which the error membership
% functions of the fuzzy controller are on
% (this is the fuzzification part).
c_count=0;e_count=0;
% These are used to count the
% number of non-zero mf
% certainities of e and c
e(index)=psi_r(index)-psi(index);
% Calculates the error input for
% the fuzzy controller
c(index)=(e(index)-eold)/T; % Sets the value of c
eold=e(index); % Save the past value of e for
% use in the above computation the
% next time around the loop
if e(index)<=ce(1)
mfe=[1 0 0 0 0 0 0 0 0 0 0];
% i.e., the only one on is the
% left-most one
e_count=e_count+1;e_int=1;
% left-most one.
elseif e(index) >=ce(nume)
mfe=[0 0 0 0 0 0 0 0 0 0 1];
e_count=e_count+1;e_int=nume;
% right-most one
else
% In this case the input is on the middle
% part of the universe of discourse for e
% Next, we are going to cycle through the mfs
% to find all that are on
for i=1:nume
if e(index)<=ce(i)
mfe(i)=max([0 1+(e(index)-ce(i))/we]);
% for this input e
if mfe(i)~=0
e_count=e_count+1;
e_int=i; % This term holds the index last entry
end
else
mfe(i)=max([0,1+(ce(i)-e(index))/we]);
% right of the center ce (i)
if mfe(i)~=0
e_count=e_count+1;
e_int=i; % This term holds the index of the
% last entry with a non-zero ter
end
end
end
end
% for its current value (to understand this part of the
% code see the above similar code for computing mfe).
% Clearly, it could be more efficient to make a subroutine
% that performs these computations for each of the fuzzy
% system inputs.
if c(index)<=cc(1)
mfc=[1 0 0 0 0 0 0 0 0 0 0];
c_count=c_count+1;
c_int=1;
elseif c(index)>=cc(numc)
mfc=[0 0 0 0 0 0 0 0 0 0 1];
c_count=c_count+1;
c_int=numc;
else
for i=1:numc
if c(index)<=cc(i)
mfc(i)=max([0,1+(c(index)-cc(i))/wc]);
if mfc(i)~=0
c_count=c_count+1;
c_int=i;
% This term holds last entry
end
end
end
end
% The next two loops calculate the crisp output using
% only the non- zero premise of error,e, and c. This
% cuts down computation time since we will only compute
% the contribution from the rules that are on (i.e., a
% maximum of four rules for our case). The minimum
% is center-of-gravity used for the premise
% (and implication for the defuzzification case).
num=0;
den=0;
% This next calculation of num adds up the numerator for
% the center of gravity defuzzification formula.
% rules(k,l) is the output center for the rule.
% base*(prem-(prem)^ 2/2) is the area of a symmetric
% triangle that peaks at one with base width ‘‘base"
% and that is chopped off at a height of prem (since
% we use minimum to represent the implication).
% Computation of den is similar but without rules(k,l).
% than the two above (notice that in this case we did not
% use any information about the output membership function
% shapes, just their centers; also, note that the
% computations are slightly simpler for the center-average
% defuzzificaton):
% den=den+prem;
end
end
delta(index)=num/den;
% to the plant.
else
% This goes with the ‘‘if" statement to check if the
% counter=10 so the next lines up to the next ‘‘end"
% statement are executed whenever counter is not
% equal to 10
% Now, even though we do not compute the fuzzy
% controller at eachtime instant, we do want to
% save the data at its inputs and output at each time
% instant for the sake of plotting it. Hence, we need to
% compute these here (note that we simply hold the
% values constant):
e(index)=e(index-1);
c(index)=c(index-1);
delta(index)=delta(index-1);
end
% This is the end statement for the ‘‘if counter=10" statement
% Now, for the first step, we set the initial
% condition for the third state x(3).
if t==0, x(3)=-(K*tau_3/(tau_1*tau_2))*delta(index); end
% Next, the Runge-Kutta equations are used to find the
% next state. Clearly, it would be better to use a Matlab
% ‘‘function" for F (but here we do not, so we can have only
% one program).
time(index)=t;
% First, we define a wind disturbance against the body
% of the ship that has the effect of pressing water
% against the rudder
% w(index)=0.5*(pi/180)*sin(2*pi*0.001*t); % This is an
% additive sine disturbance to the rudder input. It
% is of amplitude of 0.5 deg. and its period is 1000sec.
% delta(index)=delta(index)+w(index);
% Next, implement the nonlinearity where the rudder angle
% is saturated at +-80 degrees
if delta(index) >= 80*(pi/180), delta(index)=80*(pi/180);
end
if delta(index) <= -80*(pi/180), delta(index)=-80*(pi/180);
end
% Next, we use the formulas to implement the Runge-Kutta
% method (note that here only an approximation to the
% method is implemented where we do not compute the
% function at multiple points in the integration step size).
xx1= x(2);
xx2=x(3)+(K*tau_3/(tau_1*tau_2))*delta(index);
xx3=-((1/tau_1)+(1/tau_2))*(x(3)+ (K*tau_3/(tau_1*tau_2))*delta(index))-...
(1/(tau_1*tau_2))*(abar*x(2)^3 + bbar*x(2)) +(K/(tau_1*tau_2))*delta(index);
F=[xx1;xx2;xx3 ];
k1=step*F;
xnew=x+k1/2;
xx1= x(2);
xx2=xnew(3)+ (K*tau_3/(tau_1*tau_2))*delta(index);
xx3=-((1/tau_1)+(1/tau_2))*(xnew(3))+ (K*tau_3/(tau_1*tau_2))*delta(index)-
...
(1/(tau_1*tau_2))*(abar*xnew(2)^ 3 + bbar*xnew(2))
+(K/(tau_1*tau_2))*delta(index);
F=[xx1;xx2;xx3 ];
k2=step*F;
xnew=x+k2/2;
F=[ xnew(2) ;
k3=step*F;
xnew=x+k3;
F=[ xnew(2) ;
k4=step*F;
x=x+(1/6)*(k1+2*k2+2*k3+k4); % Calculated next state
t=t+step; % Increments time
index=index+1; % Increments the indexing term so that
% index=1 corresponds to time t=0.
counter=counter+1; % Indicates that we computed one more
% integration step
*end % This end statement goes with the first ‘‘while"
% statement in the program so when this is complete the simulation is done.
%
% Next, we provide plots of the input and output of the
% ship along with the reference heading that we want
%to track. Also, we plot the two inputs to the
% fuzzy controller.
%
% First, we convert from rad. to degrees
psi_r=psi_r*(180/pi);
psi=psi*(180/pi);
delta=delta*(180/pi);
e=e*(180/pi);
c=c*(180/pi);
% Next, we provide plots of data from the simulation
figure(1)
clf
subplot(211)
plot(time,psi,'k-',time,psi_r,'k--')
% grid on
title('Ship heading (solid) and desired ship heading(dashed), deg.')
subplot(212)
plot(time,delta,'k-')
% grid on
title('Rudder angle (?), deg.')
zoom
figure(2)
clf
subplot(211)
plot(time,e,'k-')
% grid on
title('Ship heading error between ship heading and desired heading, deg.')
subplot(212)
plot(time,c,'k-')
% grid on
title('Change in ship heading error, deg./sec')
zoom
end % This ends the if statement (on flag1) on whether
% you want to do a simulation or just
% see the control surface
% % % % % % % % % % % % % % % % %
% Next, provide a plot of the fuzzy controller surface:
% % % % % % % % % % % % % % % % %
% Request input from the user to see if they want to
% see the controller mapping:
flag2=input('\ n Do you want to see the nonlinear\ n mapping implemented by
the fuzzy \ n controller? \ n (type 1 for yes and 0 for no) ');
if flag2==1,
% First, compute vectors with points over the whole range
% of the fuzzy controller inputs plus 20% over the end of
% the range and put 100 points in each vector
e_input=(-(1/g1)-0.2*(1/g1)):(1/100)*(((1/g1)+ 0.2*(1/g1))-(-(1/g1)-...
0.2*(1/g1))):((1/g1)+0.2*(1/g1));
ce_input=(-(1/g2)-0.2*(1/g2)):(1/100)*(((1/g2)+ 0.2*(1/g2))-(-(1/g2)-...
0.2*(1/g2))):((1/g2)+0.2*(1/g2));
% Next, compute the fuzzy controller output for all
% these inputs
for jj=1:length(e_input)
for ii=1:length(ce_input)
c_count=0;e_count=0; % These are used to count the
% number of non-zero mf certainities of e and c
if e_input(jj)<=ce(1)
mfe=[1 0 0 0 0 0 0 0 0 0 0]; % i.e.,the only one on is the left-most one
e_count=e_count+1;e_int=1; % One mf on, it is the left-most one.
elseif e_input(jj)>=ce(nume)
mfe=[0 0 0 0 0 0 0 0 0 0 1];
e_count=e_count+1;e_int=nume; % One mf on, it is the right-most one
else
% In this case the input is on the
% middle part of the universe of
% discourse for e Next, we are going to
% cycle through the mfs to find all
% that are on
for i=1:nume
if e_input(jj)<=ce(i)
mfe(i)=max([0 1+(e_input(jj)-ce(i))/we]);
% for this input e
if mfe(i)~=0
e_count=e_count+1;
e_int=i;
% This term holds the index last entry with a non-zero term
end
else
mfe(i)=max([0,1+(ce(i)-e_input(jj))/we]);
% In this case the input is to the right of the center ce(i)
if mfe(i)~=0
e_count=e_count+1;
e_int=i;
% This term holds the index of the last entry with a non-zero term
end
end
end
end
% for its current value.
if ce_input(ii)<=cc(1)
mfc=[1 0 0 0 0 0 0 0 0 0 0];
c_count=c_count+1;
c_int=1;
elseif ce_input(ii)>=cc(numc)
mfc=[0 0 0 0 0 0 0 0 0 0 1];
c_count=c_count+1;
c_int=numc;
else
for i=1:numc
if ce_input(ii)<=cc(i)
mfc(i)=max([0,1+(ce_input(ii)-cc(i))/wc]);
if mfc(i)~=0
c_count=c_count+1;
c_int=i; % This term holds last entry with a non-zero term
end
else
mfc(i)=max([0,1+(cc(i)-ce_input(ii))/wc]);
if mfc(i)~=0
c_count=c_count+1;
c_int=i;% This term holds last entry with a non-zero term
end
end
end
end
% The next loops calculate the crisp output using only
% the non-zero premise of error,e, and c.
num=0;
den=0;
% This next calculation of num adds up the numerator
% for the center of gravity defuzzification formula.
% than the two above:
% den=den+prem;
end
end
delta_output(ii,jj)=num/den;
% to the plant.
end
end
% Convert from radians to degrees:
delta_output=delta_output*(180/pi);
e_input=e_input*(180/pi);
ce_input=ce_input*(180/pi);
% Plot the controller map
figure(3)
clf
surf(e_input,ce_input,delta_output);
view(145,30);
colormap(white);
xlabel('Heading error (e), deg.');
ylabel('Change in heading error (c), deg.');
zlabel('Fuzzy controller output (?), deg.');
title('Fuzzy controller mapping between inputs and output');
end
% % % % % % % % % % % % % % % % % % % % % % % % % %
%
% End of program %
% % % % % % % % % % % % % % % % % % % % % % % % % % %
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