A b s t~u c t -The use of fuzzy logic has recently gained recognition as an approach for quickly developing effective controllers for higher-order, nonlinear time-variant systems. This paper describes the preliminary research and implementation of a fuzzy logic controller to co'ntrol wheel slip for an anti-lock brake system. The dynamics of braking systems are highly nonlinetlr and timevariant. Simulation was used to derive an initial rule base which was then tested on an experimental brake system. The rules were further refined by analysis of the data acquired from vehicle braking maneuvers on a surface with high coefficient of friction. The robustness of the fuz:zy logic slip regulator was further tested by varying operating conditions and external environmental variables.
This paper describes a computationally efficient method of defuzzification which we call the influence value (IV) algorithm. The algorithm is meant to be used in conjunction with standard max-min (Mamdani) inference and significantly mitigates the computational cost associated with the aggregation operation followed by the determination of the center of area (COA) of the aggregated output. A straightforward computation of the COA requires a point-by-point maximum operation over the full range of the output variable and then determination of the COA by integration. In contrast, the present method exploits precalculation to achieve an excellent approximation with substantially fewer computations, For practical applications, this permits max-min inference to be carried out with inexpensive processing devices at relatively high speed.
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