The Online Journal on Electronics and Electrical Engineering (OJEEE)

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Adaptive Fuzzy Control Applied to a Speed Control

Andrs Escobar D.
Department of Control Engineering, Faculty of Technology, Distrital University, Bogota, Colombia

Email: andresed@gmail.com,

Cesar A. Hernndez S.
Department of Electrical Engineering, Faculty of Technology, Distrital University, Bogota, Colombia

cahernandezs@udistrital.edu.co

Oscar F. Corredor C.
Department of Electronic Engineering, Faculty of Engineering, Cooperativa University, Bogota, Colombia

AbstractIn this article is given to know the technique of adaptive control FRMLC which is applied to diffuse controllers in order to adjust its base of rules so that the system behaves according to a reference model. This technique is applied to the control of speed of an automobile, which is subject to interferences that affect its dynamics. Keywords - Fuzzy logic, Control, FRMLC, adaptive Systems. I. INTRODUCTION Fuzzy control systems are widely used for the control, system identification, and pattern acknowledgement. To maximize its performance, it is necessary to apply a design optimization through varying adjustable parameter. This optimization can be carried out in two ways. The first is a manual way made by a design based on his/her knowledge about the system, who after observing the performance can adjust the parameter so as to obtain a better response. The second way is to use a system adapting the controller to the plant dynamics, considering that the adaptation definition is to change oneself by fitting a new circumstance from ones behavior. It implies that the system must be capable to set rules specifying which changes must be done in order to improve the behavior. An adaptive system has the great advantage that allows always assessing the system behavior, making possible to counteract those changes in its dynamics due to variations in the plant parameters. II. FUZZY REFERENCE MODEL LEARNING CONTROL

Observation of the fuzzy system data such as error or error derivative. Current response characterization through a plant inverted model specifying the adjustment to be done on the controller. Controller synthesis and adjustment.

This procedure is repetitive and depends on the frequency with which the controller rule basis is modified. The system consists of a set of elements performing specific functions as follows: fuzzy controller, learning mechanism, and reference model (Figure 1). All three are described below. [1] [2] [3]. A. Fuzzy Controller Every fuzzy controller is made up of three main components: the fuzzification, inference, and defuzzification mechanisms. The fuzzification mechanism function is to map the controller inputs and assign a proper value (u) for each proper function forming the universes. Fuzzy inference consists in assessing fuzzy rule set of the type (1), which has two main parts, the antecedent and the consequent. [4][5][6]. IF e(t) IS AND c(t) IS THEN u(t) (1)

The antecedent is before the word THEN and its function is to relate the controller input proper values to the consequent. [4][5][6]. Defuzzification is the procedure through which the fuzzy rule set is assessed and a non-fuzzy or analog signal is assigned. The most frequently used method is the area center, although there are methods like the first maximum or the maximum average. [7] [9] [10]. The controller used in the adaptive system must be likely of online modification, without ever stopping the control signal provision. B. Learning Mechanism The learning mechanism is made up of the knowledge basis modifier and the inverted fuzzy model. The modifier updates the fuzzy controller rule basis. The plant inverted fuzzy model is used to determine the modification extent; it

The adaptive fuzzy control technique, FRMLC, functions to maintain a system response in a closed loop with the least possible error by modifying the controller rule base. The system uses the following procedure to carry out this task:

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represents the adjustment that should be done in the rule basis before an specific error signal. [7] [9] [10]. The inputs to the inverted model used to be the error signal and the error derivative signal, produced when comparing the plant state to a reference model.

IF e(t) IS AND c(t) IS THEN u(t) + p(kT)

(4)

ye ( kT ) ym ( kT ) y ( kT )
yc ( kT ) ym ( kT ) y ( kT ) T

(2)

The inverted model should consider that for small error values, the rule basis adjustments are minimum, while for significant error values, adjustments must be greater. [11][12][13]. C. Reference Model The reference model provides the capacity to quantify the process desirable response. In general, the reference model may be any dynamic system. The whole system response is calculated respecting the reference model through an error signal generation. It is more usual to use a first-order system as the reference model.

(3)

During the adaptation process, the system observe which rules make up the active set, thus called as its value is above zero. Then the inverted model assesses the error signal and the error derivative to obtain a fuzzified value called p(kT). This value is added to the active rule set, thus achieving to change the knowledge the rule basis knows about the plant.
Learning Mechanism
Defuzzification

Fuzzification

knowledge Aprendizaje
Machine inference
Gy e

Gv

Gy c

1 z 1 T

Reference Model

Modifier Knowledge Base

Active Rules

Fuzzy Inverted Model

Ge

1 z T

Machine inference

Defuzzification

Fuzzification

r kT

knowledge

Gv

Plant

Gc

Figure 1. FRMLC Control System.

Fuzzy Controller

III. IMPLEMENTATION OF FRMLC A control structure similar to the FRMLC was programmed by using the MatLab platform. Its main features include: A. Controller Automatic Creation and Inverted Model Using a structure type with a (.fis) extension, as defined by Fuzzy Logic Toolbox, a control is created capable to be modified in real time; the program allows varying the universe size and its range. Respecting the inverted model, the programa initializes automatically the rule basis and is capable to modify the universe number from one to three.

When using three input universe in the inverted model, it should be considered that the control surface results in four dimensions, as it is possible to enter the error, error derivative, and error integral into the inverted model. [13][14][15]. B. Knowledge Basis Modification It was found that the controller knowledge basis can be modify in either of two ways: the first one is to modify the consequents in the rules; the second on consists in carrying displacing the proper function center. In both cases, the modification depends on the universe model instantaneous value.

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C. Inverted Model The inverted model used herein has 5 proper functions per universe. Table 1 shows the mapped value for differente error and error variation values in the first column and arrow; the central cells contain the inverted model output value or correction factor p(kT).
universes -1.0 -0.5 0.0 0.5 1.0 -1.0 -1.0 -1.0 -1.0 -0.5 0 -0.5 -1.0 -1.0 -0.5 0 0.5

Fd Cg V Vw

(7)

The obturator actuator and the vehicle propulsion system are modelled as cascade temporary lag of first order

C1eTs 1 Ts

(8)

Yck
0 -1.0 -0.5 0 0.5 1.0 0.5 -0.5 0 0.5 1.0 1.0 1.0 0 0.5 1.0 1.0 1.0

And a saturation force feature due to the engine physic limitations (fd is limited between fdmin and fdmax). The following parameters are adopted: C1 = 743, T = 1s, = 0.5 s; M = 1000 Kg, Ca = 1.19 N/(m/s)2, fdmax = 2000 N, fdmin = 20 N, and the gravity constant g = 9.8 m/s2

Yek

Table 1. Inverted Model Rule Basis. The model components are linked up in MatLab using the Simulink interface so that the simulation results can be seen and the component parameters can be easily changed, in order to experiment on different values. [16]. In Figure 2, a simulink diagram can be seen simulating the FRMLC system.

Figure 3. Speed dynamic model A wind speed of 8 m/s and a tilt of 10 were selected in order to disturb the plant behavior. V. CONTROLLER DESIGN The following parameters are chosen for the controller design: error range [-5 5], error derivative range [-1 1], output range [0 /2]; inverted model ranges: error range [-3 3], error derivative range [-0,5 0,5], output range [-0,4 0,4]; rule basis updating interval 1 second; 5 proper functions per universe; uniform function distribution; rule basis updating by center displacing. In this type of system, the rules should be carefully updated because when a time lag occurs the controller must have the time needed to assimilate the changes before making new changes. In addition, the adaptation must consider that the system answers faster to positive speed changes than negative changes. Therefore, over-impulse should be avoided as it would bring about that the system needs more time to stabilize. VI. RESULTS Figure 4 shows the reference signal used to train the learning mechanism. The controller action is always seen to make the plant follow the reference signal, although due to the plant physical limitations it is not controllable during the deaccelerating terms.

Figure 2. FRMLC system in Simulink. IV. STUDY CASE (SPEED CONTROL) Based on the VR signal coming from the vehicle accelerator pedal and on the speed sensor feedback signal, the control system must regulate the vehicle speed, v, by adjusting the gas obturator so as to increase or decrease the engine working force Fd. The vehicle longitudinal dynamics ruled by Newtons law is:

Fd M

dv Fa Fg dt

(5)

Where M(dv/dt) is the inertia force, Fa is the aerodynamic resistance, and Fg is the upward resistance or downward force. The forces Fd, Fa y Fg are produced as shown below, where Vw is the wind gust speed, M is the vehicle plus passenger mass, is the road tilt angle and Ca is the aerodynamic resistance coefficient:

Fg M g Sen

(6)

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Figure 4. System response controlling the vehicle speed.

A M P LIT UD DE LA P E RT URB A CIO N

The control surface generated by the control system can be seen in Figure 5. It is worth to mention that the slopes do not have abrupt variations and then it is concluded that the controller response must be slight. This surface was tested in a system without learning y with disturbances produced by varying the wind speed and the floor tilt (Figure 6a) in order to assess the acquired knowledge quality and the capacity to answer to new dynamics.

10

CO NTRO L DE V E LO CIDA D INCLINA CIO N DE L TE RRE NO (G RA DO S ) V E LO CIDA D DE L V IE NTO (m /s )

-5

-10

-15

20

40

60

18

TIE M P O

80

100

120

140

16

14

VELOCIDAD DEL VEHICULO

12

10

Figure 5. Generated control surface.

CON CONOCIM IENTO PREVIO SIN APRENDIZAJE M ODELO DE REFERENCIA REFERENCIA LUEGO DE LA ULTIM A INTERACCION CON CONOCIM IENTO PREVIO Y M ECANISM O DE APRENDIZAJE

The wind gust were tested for wind in both direction up to 5 m/s, while the floor tilt varied between 15 downward and 15 upward.

-2

20

40

60 TIEM PO

80

100

120

Figure 6. a) Disturbance due to wind gust and floor tilt variation. b) System response to disturbances.

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Figure 6b represents how the controller subject to the aforementioned disturbances behaves, but under three different operation conditions. In the first test, the Figure 5 control surface and a controller without learning mechanism were used. The reference is followed in spite of the disturbances, although there is an stationary state error. The second test consisted in using the previous test control surface, but this time it does have a learning mechanism. In this test, the system showed an over-buffered behavior but with a lower stationary state error. Finally, the learning mechanism is turned off and the system is tested using the surface generated during the second test. A stationary state error can be seen, but this time the magnitude is opposite to the one obtained in the first test. VII. CONCLUSIONS The FRMLC control technique is very useful when the plant shows parameter variation respecting the time. It is also observed that when the learning mechanism is turned off , the storaged knowledge in the control surface can acceptably control the plant. When due to the parameter variation the acquired knowledge are not enough to keep a good performance, it is possible to turn on again the learning mechanism, so that an adaption possibility is provided. Likewise, the training signal selection is seen as crucial for the controller performance as its task is to produce different situations in order to train the controller before different ranges.

REFERENCES [1] Passino, K; Yurkovich, S. Fuzzy Control. AddisonWesley. 1998. [2] Rodrguez, C; Balln, J; Diseo e Implementacin de un Controlador Difuso Autosintonizado sobre Microcontroladores, Aplicado al Control del Pndulo Invertido. 2003. [3] Spooner, J; Passino K. Stable Adaptative Control and Estimation for Nonlinear System, Neural and Fuzzy Approximator Techniques, Addison Wesley, 2002. [4] Quesada, A; Robust Adaptive Control with Multiple Estimation Models for Stabilization of a Class of Noninversely stable Time-varying Plants. [5] Haley, P; Soloway D; Gold, B; Real-time Adaptive Control Using Neural Generalized Predictive Control, NASA Langley Research Center, p 4272-4278. [6] Mcfarland, M; Robust Adaptive Control of Uncertain Nonlinear Systems Using Neural Networks, IEEE paper, Automatic Control, 1997. [7] Antskils, P; Passino, K; An Introduction to Intelligent and Autonomous Control, Kluwer Academic Publisher; 1993. [8] Jeffey, R, Fuzzy Reference Model Learning Control, Ohio State University. [9] Jeffey, R; Fuzzy Learning Control to Antiskid Braking System, IEEE transactions on control, 1993. [10] Kazuo, Tanaka; Fuzzy Control System Design and Analysis. Ed. John Wiley and sons, 2001. [11] Jeffey, R, Fuzzy Reference Model Learning Control, Ohio State University. [12] Jeffey, R; Fuzzy Learning Control to Antiskid Braking System, IEEE transactions on control, 1993. [23] Kazuo, Tanaka; Fuzzy Control System Design and Analysis. Ed. John Wiley and sons, 2001.

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