Real-Time Metaheuristic Algorithm for Dynamic Fuzzification, De-Fuzzification and Fuzzy Reasoning Processes

Abstract

This paper presents a systematic approach to designing a dynamic metaheuristic fuzzy logic controller (FLC) to control a piece of non-linear plant. The developed controller is a multiple-input–multiple-output (MIMO) system. However, with the proposed control mechanism is possible to adapt it to single-input–single-output (SISO) systems as well. During real-time operation, the dynamic behavior of the proposed fuzzy controller is influenced by a metaheuristic particle swarm optimization (PSO) mechanism. Nevertheless, to analyze the performance of the developed dynamic metaheuristic FLC as a piece of non-linear plant, a 1 kW four-wheel independent-drive electric rover is controlled under different road constraints. The test results show that the proposed dynamic metaheuristic FLC maintains the wheel slip ratio of all four wheels to less than 0.35 and a top recorded translational speed of 90 km/h is maintained for a fixed orientation.

Keywords

• fuzzy logic (FL)
• particle swarm optimization (PSO)
• brushless sensored direct-current motor control
• four-wheel independent-drive