An accurate COG defuzzifier design using Lamarckian co-adaptation of learning and evolution (Q1855486)

This paper proposes a design technique of an optimal center of gravity (COG) defuzzifier using the Lamarckian co-adaptation of learning and evolution. The proposed COG defuzzifier is specified by various design parameters such as the centers and widths. The design parameters are adjusted with the Lamarckian co-adaptation of learning and evolution, where the learning performs a local search of design parameters in an individual COG defuzzifier, but the evolution performs a global search of design parameters among a population of various COG defuzzifiers. This co-adaptation scheme allows the process to evolve much faster than in the non-learning case and gives a higher possibility of finding an optimal solution due to its wider searching capability. An application to the truck backer-upper control problem of the proposed co-adaptive design method for the COG defuzzifier is presented. The approximation ability and control performance are compared with those of the conventionally simplified COG defuzzifier in terms of the fuzzy logic controller's approximation error and the average tracking distance, respectively. Simulation results of applying the proposed COG design method to the truck backer-upper control problem and the approximation ability and the control accuracy are compared with those of the conventionally simplified one in terms of the system error and the average tracking distance, respectively.