30 October 2006 A multi-granular-based fuzzy adaptive controller
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Abstract
The accuracy and complexity of fuzzy control systems are problems worthy of study deeply. The high accuracy of control means that the controlled variables will have to be represented at fine granularity which increases the complexity of controller. To attain the prescribed accuracy in reducing control complexity, a multi-granular fuzzy adaptive controller is proposed which represents the process of reaching goal at different spaces of the information granularity. When the prescribed accuracy is low, a coarse fuzzy controller can be used. As the process moves from high level to low level, the prescribed accuracy becomes higher and the information granularity to fuzzy controller becomes finer. In this controller, a rough plan is generated to reach the final goal firstly. Then, the plan is decomposed to many sub-goals which are submitted to the next lower level of hierarchy. And the more refined plans to reach these sub-goals are determined. If needed, this process of successive refinement continues until the final prescribed accuracy is obtained. In addition, the methods are presented to determine the depth of levels and the number of granules in each level. Finally, the simulation results of double inverted pendulum indicate the effectiveness of the proposed controller.
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Bin Lu, Bin Lu, } "A multi-granular-based fuzzy adaptive controller", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 635832 (30 October 2006); doi: 10.1117/12.718014; https://doi.org/10.1117/12.718014
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