1. Fuzzy Logic Control Systems Ken Morgan ENGR 315 December 5, 2001

2. What is Fuzzy Logic? Fuzzy logic allows any value between 0 and 1. Fuzzy logic is a superset of Boolean logic. Fuzzy logic allows half truths such as: “The cup is both half full and half empty.”

3. Fuzzy Logic Operations Intersection –0.4 AND 0.9 = 0.4 [min(A,B)] Union –0.4 OR 0.9 = 0.9 [max(A,B)] Complement –NOT 0.4 = 0.6 (1 - A)

4. Fuzzy Control Fuzzification Unit Decision-making Unit Defuzzification Unit Rule Base Input Output FLC

5. Fuzzification Unit Actual measured value

6. Rule Base A collection of If-Then type statements that describe the desired effect. Example: “If angle is low and angular velocity is very low, then speed is zero.”

7. Defuzzification Unit

8. Mathematica Example

10. Simulation #1

11. Simulation #2