Modeling and control of hierarchical systems with fuzzy systems

DOI10.1016/S0005-1098(97)00012-5MaRDI QIDQ1362424zbMATH OpenOpenAlexFDO

Authors Lixin Wang

Publication date 9 October 1997

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(97)00012-5

zbMATH Keywords

fuzzy logicfuzzy systemshierarchical systemhighway systemrobot planningtracking

Mathematics Subject Classification ID

Hierarchical systems (93A13) Fuzzy control/observation systems (93C42)

Review text

The paper proposes to use a fuzzy methodology to model the supervision and planning levels of a three level hierarchical control system. Only the first level of the process and the controller itself remain crisp. The main advantage of this system is that all levels of this hierarchical system can be formulated in a same mathematical framework. In this way, a mathematically rigorous model can be developed which is stable and for which the tracking error converges to zero. This fuzzy approach also avoids to have to combine differential equations with discrete event systems. This results from the possibility that fuzzy systems have to transform rule based instructions in continuous mathematical formulas using fuzzy logic. The paper shows how this principle can be applied to a robot planning and control problem and also to an intelligent vehicle highway system. Even if the author asserts that the approach, as described in the paper, is still preliminary, it looks very interesting and is certainly very well formulated and documented. Although some more tests are probably required, the work already done looks promising and worthwhile to study.

Recommendations

• Hierarchical fuzzy control of multivariable systems
• Perspectives of fuzzy systems and control
• Hierarchical fuzzy control
• scientific article; zbMATH DE number 88729

Cites work

• A logical DES approach to the design of hybrid control systems
• scientific article; zbMATH DE number 3912096 (Why is no real title available?)
• scientific article; zbMATH DE number 53287 (Why is no real title available?)
• Hybrid dynamical systems theory and the Signal language
• Intelligent robotic control
• Nonholonomic motion planning: steering using sinusoids
• Outline of a New Approach to the Analysis of Complex Systems and Decision Processes
• Theoretical foundations of planning and navigation for autonomous robots

Cited in

(6)

• Rule-base self-generation and simplification for data-driven fuzzy models.
• Hierarchical fuzzy control of multivariable systems
• scientific article; zbMATH DE number 3845419 (Why is no real title available?)
• A framework of fuzzy hybrid systems for modelling and control
• A review of the construction of hierarchical fuzzy systems
• Knowledge discovery by a neuro-fuzzy modeling framework

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