Journal of the Institute of Electronics Engineers of Korea CI (전자공학회논문지CI)

The Institute of Electronics and Information Engineers (대한전자공학회)
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High-speed Integer Operations in the Fuzzy Consequent Part and the Defuzzification Stage for Intelligent Systems

지능 시스템을 위한 퍼지 후건부 및 비퍼지화 단계의 고속 정수연산

  • Lee Sang-Gu (Department of Computer Eng., Hannam University) ;
  • Chae Sang-Won (Department of Computer Eng., Hannam University)
  • 이상구 (한남대학교 컴퓨터공학과) ;
  • 채상원 (한남대학교 컴퓨터공학과)
  • Published : 2006.03.01
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Abstract

In a fuzzy control system to process fuzzy data in high-speed for intelligent systems, one of the important problems is the improvement of the execution speed in the fuzzy inference and defuzzification stages. Especially, it is more important to have high-speed operations in the consequent part and defuzzification stage. Therefore, in this paper, to improve the speedup of the fuzzy controllers for intelligent systems, we propose an integer line mapping algorithm using only integer addition to convert [0,1] real values in the fuzzy membership functions in the consequent part to integer grid pixels $(400{\times}30)$. This paper also shows a novel defuzzification algorithm without multiplications. Also we apply the proposed system to the truck backer-upper control system. As a result, this system shows a real-time very high speed fuzzy control as compared as the conventional methods. This system will be applied to the real-time high-speed intelligent systems such as robot arm control.

지능 기스템에 사용되는 퍼지 데이터를 고속으로 처리하기 위한 퍼지 제어시스템의 중요한 문제점들 중의 하나는 퍼지 추론 및 비퍼지화 단계에서의 수행속도의 개선이다. 특히 후건부의 계산 및 비퍼지화 단계에서의 고속 연산이 더욱 더 중요하다. 따라서 본 논문에서는 지능 시스템을 위한 퍼지 제어기의 속도향상을 위해 후건부 및 비퍼지화 단계에서 [0,1]의 실수 연산을 하지 않고, 퍼지 소속함수의 값을 정수형 격자 $(400{\times}30)$에 매핑시켜 고속의 정수 덧셈 연산만으로 수행할 수 있는 알고리듬 및 비퍼지화 단계에서 곱셈이 필요 없는 새로운 알고리듬을 제안하고, truck backer-upper 제어시스템에 적용하여 기존의 방법보다 매우 빠른 실시간 고속 퍼지 시스템을 보여준다. 본 논문에서 제안한 시스템은 로봇의 팔 움직임 제어와 같은 실시간 고속 지능 시스템에 잘 활용될 수 있다.

Keywords

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