Model predictive satisficing fuzzy logic control

Model-predictive control, which is an alternative to conventional optimal control, provides controller solutions to many constrained and nonlinear control problems. However, even when a good model is available, it may be necessary for an expert to specify the relationship between local model predictions and global system performance. We present a satisficing fuzzy logic controller that is based on a receding control horizon, but which employs a fuzzy description of system consequences via model predictions. This controller considers the gains and losses associated with each control action, is compatible with robust design objectives, and permits flexible defuzzifier design. We demonstrate the controller's application to representative problems from the control of uncertain nonlinear systems.

[1]  Herbert A. Simon,et al.  The Sciences of the Artificial , 1970 .

[2]  Shinzo Takatsu,et al.  Algebraic properties of satisficing decision criterion , 1979, Inf. Sci..

[3]  Edward J. Davison,et al.  Stabilization of unstable and unintuitive plants by fuzzy control , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[4]  Kazuo Tanaka,et al.  Design of a stable fuzzy controller for an articulated vehicle , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[5]  Michael Reinfrank,et al.  An introduction to fuzzy control (2nd ed.) , 1996 .

[6]  Dennis S. Bernstein,et al.  A benchmark problem for nonlinear control design: problem statement, experimental testbed, and passive nonlinear compensation , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[7]  Jim Highsmith,et al.  Beyond optimizing , 1999 .

[8]  J. Mendel.  Fuzzy logic systems for engineering: a tutorial , 1995, Proc. IEEE.

[9]  Wynn C. Stirling,et al.  A theory of satisficing decisions and control , 1998, IEEE Trans. Syst. Man Cybern. Part A.

[10]  Lotfi A. Zadeh,et al.  Maximizing sets and fuzzy Markoff algorithms , 1998, IEEE Trans. Syst. Man Cybern. Part C.

[11]  T. Lotan,et al.  Modeling discrete choice behavior based on explicit information integration and its application to the route choice problem , 1998, IEEE Trans. Syst. Man Cybern. Part A.

[12]  Bernard P. Zeigler,et al.  Designing fuzzy net controllers using genetic algorithms , 1995 .

[13]  Jerry M. Mendel,et al.  Estimation using subjective knowledge with tracking applications , 1993 .

[14]  Shinzo Takatsu,et al.  Characterization of satisficing decision criterion , 1979, Inf. Sci..

[15]  L. Zadeh.  What is optimal? (Edtl.) , 1958 .

[16]  B. Wayne Bequette,et al.  Nonlinear model‐predictive control: Closed‐loop stability analysis , 1996 .

[17]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[18]  Hartmut Logemann,et al.  Multivariable feedback design : J. M. Maciejowski , 1991, Autom..

[19]  Jie Huang.  Asymptotic tracking and disturbance rejection in uncertain nonlinear systems , 1995, IEEE Trans. Autom. Control..

[20]  James B. Rawlings,et al.  Constrained linear quadratic regulation , 1998, IEEE Trans. Autom. Control..

[21]  P. L. Combettes.  The foundations of set theoretic estimation , 1993 .

[22]  Dr. Hans Hellendoorn,et al.  An Introduction to Fuzzy Control , 1996, Springer Berlin Heidelberg.

[23]  George C. Mouzouris,et al.  Nonsingleton fuzzy logic systems: theory and application , 1997, IEEE Trans. Fuzzy Syst..

[24]  Rodney A. Brooks.  Autonomous mobile robots , 1990 .

[25]  Yasuhiko Takahara,et al.  On a qualitative theory of satisfactory control , 1972, Inf. Sci..

[26]  H. Michalska,et al.  Receding horizon control of nonlinear systems , 1988, Proceedings of the 28th IEEE Conference on Decision and Control,.

[27]  Shiu Kit Tso,et al.  Methodological development of fuzzy-logic controllers from multivariable linear control , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[28]  Henry E. Kyburg,et al.  Bayesian and Non-Bayesian Evidential Updating , 1987, Artificial Intelligence.

[29]  Michael A. Goodrich,et al.  Semiotics and mental models: modeling automobile driver behavior , 1998, Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell.

[30]  J. Richalet,et al.  Industrial applications of model based predictive control , 1993, Autom..

[31]  Yu-Chi Ho,et al.  On the numerical solutions of stochastic optimization problem , 1997, IEEE Trans. Autom. Control..

[32]  Wynn C. Stirling,et al.  A satisficing approach to intelligent control of nonlinear systems , 1996, Proceedings of the 1996 IEEE International Symposium on Intelligent Control.

[33]  G Gigerenzer,et al.  Reasoning the fast and frugal way: models of bounded rationality. , 1996, Psychological review.

[34]  J. Vagners,et al.  Hybrid fuzzy logic control to stabilize an inverted pendulum from arbitrary initial conditions , 1995, Proceedings of Tenth International Symposium on Intelligent Control.

[35]  Wynn C. Stirling,et al.  Procedurally rational decision-making and control , 1996 .

[36]  H. Simon,et al.  A Behavioral Model of Rational Choice , 1955 .

[37]  P. Fishburn.  Subjective expected utility: A review of normative theories , 1981 .

[38]  Y. Ho.  Heuristics, rules of thumb, and the 80/20 proposition , 1994, IEEE Trans. Autom. Control..

[39]  Henry E. Kyburg,et al.  Set-based Bayesianism , 1996, IEEE Trans. Syst. Man Cybern. Part A.

[40]  S. Sitharama Iyengar,et al.  Autonomous Mobile Robots , 1991 .

[41]  D. Mayne,et al.  Min-max feedback model predictive control for constrained linear systems , 1998, IEEE Trans. Autom. Control..

[42]  Zhong-Ping Jiang,et al.  Stabilization and Tracking via Output Feedback for the Nonlinear Benchmark System , 1998, Autom..

[43]  M. Endsley.  The role of situation awareness in naturalistic decision making , 1997 .

[44]  Bo-Hyeun Wang,et al.  Cooperative neighbors in defuzzification , 1996, Fuzzy Sets Syst..

[45]  James B. Rawlings,et al.  Constrained Linear Quadratic Regulation Pierre , 1998 .

[46]  H. Simon,et al.  Invariants of human behavior. , 1990, Annual review of psychology.

[47]  Isaac Levi,et al.  The Enterprise Of Knowledge , 1980 .

[48]  Robert Popoli,et al.  Heuristically constrained estimation for intelligent signal processing , 1987, 26th IEEE Conference on Decision and Control.

[49]  Li-Xin Wang,et al.  Stable adaptive fuzzy controllers with application to inverted pendulum tracking , 1996, IEEE Trans. Syst. Man Cybern. Part B.

[50]  James B. Rawlings,et al.  Discrete-time stability with perturbations: application to model predictive control , 1997, Autom..

[51]  Shinzo Takatsu,et al.  Decomposition of satisficing decision problems , 1980, Inf. Sci..