Fuzzy logic robot control synthesis without any rule base

Abstract

A new analytic fuzzy logic robot control synthesis without any rule base is proposed. For this purpose the following objectives are preferred and reached: (i) an introduction of a new shape of fuzzy sets and a new distribution of input fuzzy sets, (ii) a determination of an analytic activation function, instead of using of min-max operators, (iii) a definition of a new analytic function that determines the positions of centres of output fuzzy sets, instead of definition of rule base, and (iv) an introduction of an analytic defuzzification formula. A real capability of the proposed fuzzy logic robot control synthesis procedures is presented by synthesis of fuzzy logic control of robot of RRTR-structure.