Introduction to fuzzy control

Abstract

In this report, some of the basic mathematical definitions and rules of fuzzy system theory are described inasmuch as they are relevant for fuzzy control. Two examples are covered in detail, viz., a fuzzy closedloop halting control scheme for the forward motion of a mobile robot in an automatic factory and a dog chasing a cat using fuzzy control. Issues of computational efficiency are discussed. And some recommendations to potential designers of fuzzy controllers are summarized. After studying this report, the reader should be in a position to design simple fuzzy controllers and simulate the behaviour of the resulting fuzzy control system on a general purpose digital computer. IMRT Press c © Measurement and Control Laboratory Swiss Federal Institute of Technology (ETH) ETH-Zentrum CH-8092 Zurich, Switzerland 3 ed., September, 1998