mirror of
https://github.com/marcin-szczepanski/jFuzzyLogic.git
synced 2024-12-18 16:35:27 +01:00
131 lines
6.1 KiB
Plaintext
131 lines
6.1 KiB
Plaintext
/*
|
|
Robot controller.
|
|
|
|
References:
|
|
"Learning Weighted LinguIStic Rules to Control an Autonomous Robot"
|
|
, M. Mucientes, R. Alcala , J. Alcala-Fdez, J. Casillas
|
|
|
|
Pablo Cingolani
|
|
pcingola@users.sourceforge.net
|
|
*/
|
|
|
|
FUNCTION_BLOCK robot
|
|
|
|
VAR_INPUT
|
|
rd : REAL; // Right dIStance
|
|
dq : REAL; // DIStance quotient
|
|
o : REAL; // Orientation. Note: I cannot use 'or' (like the reference paper) because it IS a reserved word in FCL
|
|
v : REAL; // Velocity
|
|
END_VAR
|
|
|
|
VAR_OUTPUT
|
|
la : REAL; // Linear acceleration
|
|
av : REAL; // Angular velocity
|
|
END_VAR
|
|
|
|
FUZZIFY rd
|
|
TERM L := TRIAN 0 0 1;
|
|
TERM M := TRIAN 0 1 2;
|
|
TERM H := TRIAN 1 2 3;
|
|
TERM VH := TRIAN 2 3 3;
|
|
END_FUZZIFY
|
|
|
|
FUZZIFY dq
|
|
TERM L := TRIAN 0 0 2;
|
|
TERM H := TRIAN 0 2 2;
|
|
END_FUZZIFY
|
|
|
|
FUZZIFY o
|
|
TERM HL := TRIAN -45 -45 -22.5;
|
|
TERM LL := TRIAN -45 -22.5 0;
|
|
TERM Z := TRIAN -22.5 0 22.5;
|
|
TERM LR := TRIAN 0 22.5 45;
|
|
TERM HR := TRIAN 22.5 45 45;
|
|
END_FUZZIFY
|
|
|
|
FUZZIFY v
|
|
TERM L := TRIAN 0 0 1;
|
|
TERM H := TRIAN 0 1 1;
|
|
END_FUZZIFY
|
|
|
|
DEFUZZIFY la
|
|
TERM VHB := TRIAN -1 -1 -0.75;
|
|
TERM HB := TRIAN -1 -0.75 -0.5;
|
|
TERM MB := TRIAN -0.75 -0.5 -0.25;
|
|
TERM SB := TRIAN -0.5 -0.25 0;
|
|
TERM Z := TRIAN -0.25 0 0.25;
|
|
TERM SA := TRIAN 0 0.25 0.5;
|
|
TERM MA := TRIAN 0.25 0.5 0.75;
|
|
TERM HA := TRIAN 0.5 0.75 1;
|
|
TERM VHA := TRIAN 0.75 1 1;
|
|
|
|
METHOD : COG;
|
|
DEFAULT := 0;
|
|
END_DEFUZZIFY
|
|
|
|
DEFUZZIFY av
|
|
TERM VHR := TRIAN -1 -1 -0.75;
|
|
TERM HR := TRIAN -1 -0.75 -0.5;
|
|
TERM MR := TRIAN -0.75 -0.5 -0.25;
|
|
TERM SR := TRIAN -0.5 -0.25 0;
|
|
TERM Z := TRIAN -0.25 0 0.25;
|
|
TERM SL := TRIAN 0 0.25 0.5;
|
|
TERM ML := TRIAN 0.25 0.5 0.75;
|
|
TERM HL := TRIAN 0.5 0.75 1;
|
|
TERM VHL := TRIAN 0.75 1 1;
|
|
|
|
METHOD : COG;
|
|
DEFAULT := 0;
|
|
END_DEFUZZIFY
|
|
|
|
RULEBLOCK rules
|
|
AND : MIN; // Use 'min' for 'AND' (also implicit use 'max' for 'or' to fulfill DeMorgan's Law)
|
|
ACT : MIN; // Use 'min' activation method
|
|
ACCU : MAX; // Use 'max' accumulation method
|
|
|
|
RULE 01: IF rd IS L AND dq IS L AND o IS LL AND v IS L THEN la IS VHB , av IS VHR WITH 0.4610;
|
|
RULE 02: IF rd IS L AND dq IS L AND o IS LL AND v IS H THEN la IS VHB , av IS VHR WITH 0.4896;
|
|
RULE 03: IF rd IS L AND dq IS L AND o IS Z AND v IS L THEN la IS Z , av IS MR WITH 0.6664;
|
|
RULE 04: IF rd IS L AND dq IS L AND o IS Z AND v IS H THEN la IS HB , av IS SR WITH 0.5435;
|
|
RULE 05: IF rd IS L AND dq IS H AND o IS LL AND v IS L THEN la IS MA , av IS HR WITH 0.7276;
|
|
RULE 06: IF rd IS L AND dq IS H AND o IS Z AND v IS L THEN la IS MA , av IS HL WITH 0.4845;
|
|
RULE 07: IF rd IS L AND dq IS H AND o IS Z AND v IS H THEN la IS HB , av IS ML WITH 0.5023;
|
|
RULE 08: IF rd IS L AND dq IS H AND o IS LR AND v IS H THEN la IS VHB , av IS VHL WITH 0.7363;
|
|
RULE 09: IF rd IS L AND dq IS H AND o IS HR AND v IS L THEN la IS VHB , av IS VHL WITH 0.9441;
|
|
RULE 10: IF rd IS M AND dq IS L AND o IS Z AND v IS H THEN la IS SA , av IS HR WITH 0.3402;
|
|
RULE 11: IF rd IS M AND dq IS L AND o IS LR AND v IS H THEN la IS Z , av IS VHL WITH 0.4244;
|
|
RULE 12: IF rd IS M AND dq IS L AND o IS HR AND v IS L THEN la IS SA , av IS HL WITH 0.5472;
|
|
RULE 13: IF rd IS M AND dq IS L AND o IS HR AND v IS H THEN la IS MB , av IS VHL WITH 0.4369;
|
|
RULE 14: IF rd IS M AND dq IS H AND o IS HL AND v IS L THEN la IS Z , av IS VHR WITH 0.1770;
|
|
RULE 15: IF rd IS M AND dq IS H AND o IS HL AND v IS H THEN la IS VHB , av IS VHR WITH 0.4526;
|
|
RULE 16: IF rd IS M AND dq IS H AND o IS LL AND v IS H THEN la IS SA , av IS VHR WITH 0.2548;
|
|
RULE 17: IF rd IS M AND dq IS H AND o IS Z AND v IS L THEN la IS HA , av IS Z WITH 0.2084;
|
|
RULE 18: IF rd IS M AND dq IS H AND o IS LR AND v IS L THEN la IS HA , av IS VHL WITH 0.6242;
|
|
RULE 19: IF rd IS M AND dq IS H AND o IS LR AND v IS H THEN la IS SA , av IS VHL WITH 0.3779;
|
|
RULE 20: IF rd IS M AND dq IS H AND o IS HR AND v IS L THEN la IS Z , av IS VHL WITH 0.6931;
|
|
RULE 21: IF rd IS M AND dq IS H AND o IS HR AND v IS H THEN la IS VHB , av IS VHL WITH 0.7580;
|
|
RULE 22: IF rd IS H AND dq IS L AND o IS Z AND v IS L THEN la IS HA , av IS VHR WITH 0.5758;
|
|
RULE 23: IF rd IS H AND dq IS L AND o IS LR AND v IS H THEN la IS SA , av IS MR WITH 0.2513;
|
|
RULE 24: IF rd IS H AND dq IS L AND o IS HR AND v IS L THEN la IS HA , av IS VHL WITH 0.5471;
|
|
RULE 25: IF rd IS H AND dq IS L AND o IS HR AND v IS H THEN la IS SA , av IS HL WITH 0.5595;
|
|
RULE 26: IF rd IS H AND dq IS H AND o IS HL AND v IS L THEN la IS VHB , av IS VHR WITH 0.9999;
|
|
RULE 27: IF rd IS H AND dq IS H AND o IS HL AND v IS H THEN la IS VHB , av IS VHR WITH 0.9563;
|
|
RULE 28: IF rd IS H AND dq IS H AND o IS LL AND v IS L THEN la IS HA , av IS VHR WITH 0.9506;
|
|
RULE 29: IF rd IS H AND dq IS H AND o IS Z AND v IS L THEN la IS HA , av IS VHR WITH 0.4529;
|
|
RULE 30: IF rd IS H AND dq IS H AND o IS Z AND v IS H THEN la IS SA , av IS VHR WITH 0.2210;
|
|
RULE 31: IF rd IS H AND dq IS H AND o IS LR AND v IS L THEN la IS HA , av IS MR WITH 0.3612;
|
|
RULE 32: IF rd IS H AND dq IS H AND o IS LR AND v IS H THEN la IS SA , av IS MR WITH 0.2122;
|
|
RULE 33: IF rd IS H AND dq IS H AND o IS HR AND v IS L THEN la IS HA , av IS HL WITH 0.7878;
|
|
RULE 34: IF rd IS H AND dq IS H AND o IS HR AND v IS H THEN la IS SA , av IS VHL WITH 0.3859;
|
|
RULE 35: IF rd IS VH AND dq IS L AND o IS LR AND v IS L THEN la IS HA , av IS VHR WITH 0.5530;
|
|
RULE 36: IF rd IS VH AND dq IS L AND o IS HR AND v IS L THEN la IS HA , av IS HR WITH 0.4223;
|
|
RULE 37: IF rd IS VH AND dq IS L AND o IS HR AND v IS H THEN la IS SA , av IS HR WITH 0.3854;
|
|
RULE 38: IF rd IS VH AND dq IS H AND o IS LL AND v IS L THEN la IS HA , av IS VHR WITH 0.0936;
|
|
RULE 39: IF rd IS VH AND dq IS H AND o IS LR AND v IS L THEN la IS HA , av IS VHR WITH 0.7325;
|
|
RULE 40: IF rd IS VH AND dq IS H AND o IS LR AND v IS H THEN la IS SA , av IS VHR WITH 0.5631;
|
|
RULE 41: IF rd IS VH AND dq IS H AND o IS HR AND v IS L THEN la IS HA , av IS HR WITH 0.5146;
|
|
END_RULEBLOCK
|
|
|
|
END_FUNCTION_BLOCK
|
|
|