Fuzzy Logic Theory

Fuzzy Logic Theory
Dr. Xiao-Zhi Gao Department of Electrical Engineering Helsinki University of Technology gao@cc.hut.fi
Page 1
Institute of Intelligent Power Electronics IPE
Outline
Fuzzy set theory
Basic concepts in fuzzy sets Operations on fuzzy sets
Fuzzy rules and reasoning Fuzzy inference systems

Mamdani fuzzy systems Sugeno fuzzy systems
Page 2
Primer of Fuzzy Sets

From classical crisp sets to fuzzy sets
Change of range of membership functions
Notions of fuzzy sets

Representation, support, cut, convexity ...
Fuzzy set operations

Intersection, union, complement, etc. Share almost the same mathematics foundamentals with those of classical sets
Page 3 Institute of Intelligent Power Electronics IPE
Basics of Fuzzy Sets

Classical sets
two-value membership functions An element either belongs to or does not belong to a given classical set (sharp boundary)
Fuzzy sets
Extend the degrees of membership: {0,1} [0,1] An element partially belongs to and partially does not belong to a given fuzzy set Smooth and Gradual boundary Assignment of membership functions is subjective
Membership functions
Page 4
Father of Fuzzy Logic: Lotfi A. Zadeh

Lotfi Asker Zadeh is a Professor in the Graduate School, Computer Science Division, Department of EECS, University of California, Berkeley. In addition, he is serving as the Director of BISC (Berkeley Initiative in Soft Computing). http://en.wikipedia.org/wiki/Lotfi_Asker_Zadeh http://www-bisc.cs.berkeley.edu/
Page 5
Four Typical Membership Functions

(a) Triangular MF 1.2 1.2 (b) Trapezoidal MF
Membership Grades
0.8 0.6 0.4 0.2 0 0 20 40 60 80 100
Membership Grades
1 0.8 0.6 0.4 0.2 0 0 20 40 60 80 100
(c) Gaussian MF 1.2 1.2
(d) Generalized Bell MF
Membership Grades
0.8 0.6 0.4 0.2 0 0 20 40 60 80 100
Membership Grades
1 0.8 0.6 0.4 0.2 0 0 20 40 60 80 100
Page 6
Definitions in Fuzzy Sets

Supports A ( x) > 0 Core A ( x) = 1 Crossover points A ( x) = 0.5 Height max[ A ( x) ] Fuzzy singleton
A fuzzy singleton is a crisp set A fuzzy set that has only one element x0 A ( x0 ) = 1
Definitions in Fuzzy Sets
Fuzzy Singleton
Page 8
Representations of Membership Functions

Discrete Fuzzy Sets
Universe of discourse is discrete
Continuous Fuzzy Sets

Universe of discourse is continuous
Page 9
Discrete and Continuous Fuzzy Sets

(a) MF on a Discrete Universe 1.2
Membership Grades
1 0.8 0.6 0.4 0.2 0 0 1 2 3 X = Number of Children 4 5 6
(b) MF on a Continuous Universe 1.2
Membership Grades
1 0.8 0.6 0.4 0.2 0 0 10 20 30 40 50 X = Age 60 70 80 90 100
Page 10
Cuts of Fuzzy Sets

(a constant) cut of a fuzzy set is a
crisp set Strong
core( A) = A1
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Aa = {x A (x) > } support( A) = A0

Aa = {x A (x) }
cuts
Resolution Principle
A fuzzy membership function can be expressed in terms of the characteristic functions of its cuts
A ( x) = max min[ , A ]
An example of decomposing a fuzzy set with discrete objects

0.1 0.2 0.3 A= , , 1 2 3
1 1 1 A0.1 = + + 1 2 3 1 1 A0.2 = + 2 3 1 A0.3 = 3 0.1 0.1 0.1 + 0.1A0.1 = + 1 2 3 0.2 0.2 + 0.2 A0.2 = 3 2 0.3 0.3 A0.3 = 3 0.1 max(0.1,0.2) max(0.1,0.2,0.3) 0.1 0.2 0.3 A= + + + = + 1 2 3 1 2 3
Resolution Principle 1.2 1
0.8
Membership Grades
0.6
0.4
0.2
10
20
30
40
50 x
60
70
80
90
100
Page 14
Extension Principle
Extending crisp domains of mathematical expressions to fuzzy domains Suppose f is a function mapping from X to Y, and A is a fuzzy set:
A=
A ( x1 )
x1
A ( x2 )
x2
+L+
A ( xn )
xn
we have image of A under f:

B = f ( A) =
A ( x1 )
f ( x1 )
A ( x2 )
f ( x2 )
+L+
A ( xn )
f ( xn )
Page 15
Extension Principle
An example of extension principle
0 . 1 0 .4 0 .8 0 . 9 0 . 3 A= + + + + 2 1 0 1 2
f ( x) = x 2 3
0.1 0.4 0.8 0.9 0.3 B= + + + + 1 2 3 2 1 0.8 (0.4 0.9) (0.1 0.3) = + + 3 2 1 0.8 0.9 0.3 = + + 3 2 1
Extension Principle
Page 17
Convex Fuzzy Sets

Convexity of fuzzy sets
where x1 and x2 are two arbitrary elements in A, and is an arbitrary constant
Page 18
Convex and Nonconvex Fuzzy Membership Functions

(a) Two Convex Fuzzy Sets 1.2
Membership Grades
1 0.8 0.6 0.4 0.2 0
(b) A Nonconvex Fuzzy Set 1.2
Membership Grades
1 0.8 0.6 0.4 0.2 0
Page 19
Operations on Fuzzy Sets

Intersection
Union
Complement
Page 20

(a) Fuzzy Sets A and B 1.2 A 1 B 1 0.8 0.6 0.4 0.2 0 1.2 (b) Fuzzy Set "not A"
A and B
0.8 0.6 0.4 0.2 0
A
(d) Fuzzy Set "A AND B"
(c) Fuzzy Set "A OR B" 1.2 1.2 1 0.8 0.6 0.4 0.2 0
A U B
1 0.8 0.6 0.4 0.2 0
A I B
Page 21

Subset Equality
A B and B A
Page 22
Concept of A B
A Is Contained in B 1.2 1 B
0.8
Membership Grades
0.6
0.4
0.2
Page 23
Linguistic Variables
Modeling of human thinking
Numerical values are not sufficient Linguistic variables exist in real world e.g, chatting with a stranger on the phone
Estimation of your partners age: (40? probability of 40? About middle-aged?)
Linguistic variables are characterized by linguistic values (Age:[Young, Old, Very Old, etc.]) Linguistic values are described by their fuzzy membership functions
Membership Functions For Linguistic Values Young, Middle Aged, and Old
1.2 Young Middle Aged Old 1
Age: Linguistic Variable
Membership Grades
0.8
0.6
Young, Middle Aged, and Old: Linguistic Values
0.4
0.2
10
20
30
40 X = Age
50
60
70
80
90
Page 25
Membership Functions For Primary and Composite Linguistic Values

(a) Primary Linguistic Values 1
Membership Grades
0.8 0.6 0.4 0.2 0
Young
Old
10
20
30
40
50 X = age
60
70
80
90
100
(b) Composite Linguistic Values 1
Extremely Old = Old4
Membership Grades
0.8 0.6 0.4 Young but Not Too Young
Not Young and Not Old
Extremely Old More or Less Old
0.2 0
10
20
30
40
50 X = age
60
70
80
90
100
Page 26
Fuzzy IF-THEN Rules

A fuzzy IF-THEN rule is expressed as
IF x is A THEN y is B
Premise Part Consequent Part
A and B are fuzzy membership functions
A fuzzy IF-THEN rule associates fuzzy input and output membership functions
Fuzzy Reasoning
Fuzzy reasoning derives conclusions based on given fuzzy IF-THEN rules and known facts
An example:
Given a fuzzy rule: IF bath is very hot THEN add a lot of cold water Known fact: bath is a little hot Conclusion: how much cold water should be added?
Fuzzy Reasoning
Premise 1: IF X is A THEN Y is B Premise 2: IF X is A Conclusion: THEN Y is B
First, measure the similarity between A and Second, project this similarity to B
There are a few composition operations used in fuzzy reasoning procedure

Max-Min is most widely employed
Fuzzy Reasoning for Single Rule with Single Antecedent
Intersection
IF X is A THEN Y is B Known Fact: X is A

Page 30
Fuzzy Reasoning for Single Rule with Multiple Antecedents
IF X is A and Y is B THEN Z is C Known Facts: X is Aand Y is B

Page 31
w=min(w1, w2) or w=w1*w2
Fuzzy Reasoning For Multiple Rules with Multiple Antecedents
Aggregation
Known Facts: X is A Y is B
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If X is A1 and Y is B1 Then Z is C1 If X is A2 and Y is B2 Then Z is C2
Fuzzy Logic Systems

Fuzzification Interface Crisp Input Fuzzy Input Rules Fuzzy Rule Base Inference Engine Fuzzy Output Defuzzification Interface Crisp Output
Mamdani and Sugeno Fuzzy Inference Systems

Fuzzification
Converts a crisp value (from sensors, devices, measurement meters, etc.) into a fuzzy value A crisp value = A fuzzy singleton (no fuzziness is introduced)
A ( x)
x0: Crisp Value
A ( x)
Fuzzy singleton x0
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Mamdani Fuzzy Inference Systems

Mamdani fuzzy inference systems
IF x is A THEN y is B
Both premise and consequent parts consist of fuzzy membership functions Max-Min composition can be applied in fuzzy reasoning procedure
Page 35
Mamdani Fuzzy Inference Systems
If X is A1 and Y is B1 THEN Z is C1 If X is A2 and Y is B2 THEN Z is C2
x and y are two input values
Page 36
Defuzzification Methods
Page 37
Centroid of Area (COA)
Z* = COA
i=1 n i=1
(xi )x i (x i )
where
* COA
is a crisp output
Bisector of Area (BOA)
i=1
(xi ) =
j=M +1
(x j)
where Z* sec t = xM is a crisp output Bi

Mean of Maximum (MOM)
Z
* i
* MOM
x* i
i
where A (x ) reaches maximal values of A (x)
MOM could generatate wrong discrete outputs in certain cases Different defuzzification methods may have similar performances [Lee 88]
Mamdani Fuzzy Model: An Example

A Two-Input and Single-Output Mamdani fuzzy logic system with four rules
IF X is small and Y is small THEN Z is large negative IF X is small and Y is large THEN Z is small negative IF X is large and Y is small THEN Z is small positive IF X is large and Y is large THEN Z is large positive
Page 40
Fuzzy Input and Output Membership Functions

Membership Grades
1 small large 0.5 0 -5 -4 -3 small -2 -1 0 X 1 2 3 large 4 5
Membership Grades
0.5
0 -5
-4 large negative
-3
-2
-1
0 Y
4 large positive
Membership Grades
small negative
small positive
0.5
0 -5
-4
-3
-2
-1
0 Z
Page 41
Mamdani Input/Output Surface

3 2 1
Z
0 -1 -2 -3 5 5 0 0 -5 -5
Nonlinear Input/Output Surface
Page 42
Sugeno Fuzzy Inference Systems

Sugeno fuzzy inference systems
IF x is A THEN y = f(x)
Only premise part employs fuzzy membership functions Consequent output is a function of input variables
First order = linear consequent part Higher orders = nonlinear consequent part
If X is A1 and Y is B1 THEN Z = p1x+q1y+c1 If X is A2 and Y is B2 THEN Z = p2x+q2y+c2

Z: Output
First Order Sugeno Inference System


Advantages:
No defuzzification method is needed Easy to analyze
linear with respect to consequent parameters (only first order consequent part case)
Disadvantages
Difficult to interpret practical meanings of consequent part
Sugeno Fuzzy Model: An Example

A Two-Input and Single-Output Sugeno fuzzy logic system with four rules
IF X is small and Y is small THEN z = -x+y+1 IF X is small and Y is large THEN z = -y+3 IF X is large and Y is small THEN z = -x+3 IF X is large and Y is large THEN z = -x+y+2
Page 46
Fuzzy Input Membership Functions

1.2 Small Large
Membership Grades
1 0.8 0.6 0.4 0.2 0 -5 -4 -3 -2 -1 0 X 1 2 3 4 5
1.2 Small Large
Membership Grades
1 0.8 0.6 0.4 0.2 0 -5 -4 -3 -2 -1 0 Y 1 2 3 4 5
Page 47
Sugeno Input/Output Surface

10 8 6
Z
4 2 0 -2 5 5 0 0 -5 -5
Nonlinear Input/Output Surface
Page 48
Diagram of A Fuzzy Logic System
Page 49
Conclusions
Background knowledge of fuzzy sets is introduced Concept of fuzzy sets is basically a natural generalization of classical sets Fuzzy sets have some characteristics different from classical sets Fuzzy inference systems are used to model human thinking
Conclusions
Two fuzzy logic systems: Mamdani and Sugeno types Engineering potential is more important than pure theoretical research Applications of fuzzy logic and fusion with neural networks will be discussed later
Fuzzy control and fuzzy signal filtering Fuzzy neural networks

Fuzzy Logic Theory

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Fuzzy Logic Theory

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Fuzzy Logic Theory

Institute of Intelligent Power Electronics IPE

Fuzzy rules and reasoning Fuzzy inference systems

Institute of Intelligent Power Electronics IPE

Primer of Fuzzy Sets

Notions of fuzzy sets

Fuzzy set operations

Basics of Fuzzy Sets

Institute of Intelligent Power Electronics IPE

Father of Fuzzy Logic: Lotfi A. Zadeh

Institute of Intelligent Power Electronics IPE

Four Typical Membership Functions

0.8 0.6 0.4 0.2 0 0 20 40 60 80 100

1 0.8 0.6 0.4 0.2 0 0 20 40 60 80 100

(c) Gaussian MF 1.2 1.2

(d) Generalized Bell MF

0.8 0.6 0.4 0.2 0 0 20 40 60 80 100

1 0.8 0.6 0.4 0.2 0 0 20 40 60 80 100

Institute of Intelligent Power Electronics IPE

Definitions in Fuzzy Sets

Definitions in Fuzzy Sets

Institute of Intelligent Power Electronics IPE

Representations of Membership Functions

Continuous Fuzzy Sets

Institute of Intelligent Power Electronics IPE

Discrete and Continuous Fuzzy Sets

1 0.8 0.6 0.4 0.2 0 0 1 2 3 X = Number of Children 4 5 6

(b) MF on a Continuous Universe 1.2

1 0.8 0.6 0.4 0.2 0 0 10 20 30 40 50 X = Age 60 70 80 90 100

Institute of Intelligent Power Electronics IPE

Cuts of Fuzzy Sets

Aa = {x A (x) > } support( A) = A0

An example of decomposing a fuzzy set with discrete objects

Institute of Intelligent Power Electronics IPE

we have image of A under f:

Institute of Intelligent Power Electronics IPE

Institute of Intelligent Power Electronics IPE

Convex Fuzzy Sets

where x1 and x2 are two arbitrary elements in A, and is an arbitrary constant

Institute of Intelligent Power Electronics IPE

Convex and Nonconvex Fuzzy Membership Functions

1 0.8 0.6 0.4 0.2 0

(b) A Nonconvex Fuzzy Set 1.2

1 0.8 0.6 0.4 0.2 0

Institute of Intelligent Power Electronics IPE

Operations on Fuzzy Sets

Institute of Intelligent Power Electronics IPE

Operations on Fuzzy Sets

0.8 0.6 0.4 0.2 0

1 0.8 0.6 0.4 0.2 0

Institute of Intelligent Power Electronics IPE

Operations on Fuzzy Sets

Institute of Intelligent Power Electronics IPE

Institute of Intelligent Power Electronics IPE

Age: Linguistic Variable

Young, Middle Aged, and Old: Linguistic Values

Institute of Intelligent Power Electronics IPE

Membership Functions For Primary and Composite Linguistic Values

0.8 0.6 0.4 0.2 0

(b) Composite Linguistic Values 1

Extremely Old = Old4

0.8 0.6 0.4 Young but Not Too Young

Not Young and Not Old