Search results for: fuzzy rule
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1229

Search results for: fuzzy rule

1139 Evolution of Fuzzy Neural Networks Using an Evolution Strategy with Fuzzy Genotype Values

Authors: Hidehiko Okada

Abstract:

Evolution strategy (ES) is a well-known instance of evolutionary algorithms, and there have been many studies on ES. In this paper, the author proposes an extended ES for solving fuzzy-valued optimization problems. In the proposed ES, genotype values are not real numbers but fuzzy numbers. Evolutionary processes in the ES are extended so that it can handle genotype instances with fuzzy numbers. In this study, the proposed method is experimentally applied to the evolution of neural networks with fuzzy weights and biases. Results reveal that fuzzy neural networks evolved using the proposed ES with fuzzy genotype values can model hidden target fuzzy functions even though no training data are explicitly provided. Next, the proposed method is evaluated in terms of variations in specifying fuzzy numbers as genotype values. One of the mostly adopted fuzzy numbers is a symmetric triangular one that can be specified by its lower and upper bounds (LU) or its center and width (CW). Experimental results revealed that the LU model contributed better to the fuzzy ES than the CW model, which indicates that the LU model should be adopted in future applications of the proposed method.

Keywords: Evolutionary algorithm, evolution strategy, fuzzy number, feedforward neural network, neuroevolution.

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1138 Design of Liquids Mixing Control System using Fuzzy Time Control Discrete Event Model for Industrial Applications

Authors: M.Saleem Khan, Khaled Benkrid

Abstract:

This paper presents a time control liquids mixing system in the tanks as an application of fuzzy time control discrete model. The system is designed for a wide range of industrial applications. The simulation design of control system has three inputs: volume, viscosity, and selection of product, along with the three external control adjustments for the system calibration or to take over the control of the system autonomously in local or distributed environment. There are four controlling elements: rotatory motor, grinding motor, heating and cooling units, and valves selection, each with time frame limit. The system consists of three controlled variables measurement through its sensing mechanism for feed back control. This design also facilitates the liquids mixing system to grind certain materials in tanks and mix with fluids under required temperature controlled environment to achieve certain viscous level. Design of: fuzzifier, inference engine, rule base, deffuzifiers, and discrete event control system, is discussed. Time control fuzzy rules are formulated, applied and tested using MATLAB simulation for the system.

Keywords: Fuzzy time control, industrial application and timecontrol systems, adjustment of Fuzzy system, liquids mixing system, design of fuzzy time control DEV system.

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1137 An Efficient Technique for Extracting Fuzzy Rulesfrom Neural Networks

Authors: Besa Muslimi, Miriam A. M. Capretz, Jagath Samarabandu

Abstract:

Artificial neural networks (ANN) have the ability to model input-output relationships from processing raw data. This characteristic makes them invaluable in industry domains where such knowledge is scarce at best. In the recent decades, in order to overcome the black-box characteristic of ANNs, researchers have attempted to extract the knowledge embedded within ANNs in the form of rules that can be used in inference systems. This paper presents a new technique that is able to extract a small set of rules from a two-layer ANN. The extracted rules yield high classification accuracy when implemented within a fuzzy inference system. The technique targets industry domains that possess less complex problems for which no expert knowledge exists and for which a simpler solution is preferred to a complex one. The proposed technique is more efficient, simple, and applicable than most of the previously proposed techniques.

Keywords: fuzzy rule extraction, fuzzy systems, knowledgeacquisition, pattern recognition, artificial neural networks.

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1136 A New Quadrature Rule Derived from Spline Interpolation with Error Analysis

Authors: Hadi Taghvafard

Abstract:

We present a new quadrature rule based on the spline interpolation along with the error analysis. Moreover, some error estimates for the reminder when the integrand is either a Lipschitzian function, a function of bounded variation or a function whose derivative belongs to Lp are given. We also give some examples to show that, practically, the spline rule is better than the trapezoidal rule.

Keywords: Quadrature, Spline interpolation, Trapezoidal rule, Numericalintegration, Error analysis.

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1135 Fuzzy T-Neighborhood Groups Acting on Sets

Authors: Hazem. A. Khorshed, Mostafa A. El Gendy, Amer. Abd El-Razik

Abstract:

In this paper, The T-G-action topology on a set acted on by a fuzzy T-neighborhood (T-neighborhood, for short) group is defined as a final T-neighborhood topology with respect to a set of maps. We mainly prove that this topology is a T-regular Tneighborhood topology.

Keywords: Fuzzy set, Fuzzy topology, Triangular norm, Separation axioms.

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1134 More on Gaussian Quadratures for Fuzzy Functions

Authors: Shu-Xin Miao

Abstract:

In this paper, the Gaussian type quadrature rules for fuzzy functions are discussed. The errors representation and convergence theorems are given. Moreover, four kinds of Gaussian type quadrature rules with error terms for approximate of fuzzy integrals are presented. The present paper complements the theoretical results of the paper by T. Allahviranloo and M. Otadi [T. Allahviranloo, M. Otadi, Gaussian quadratures for approximate of fuzzy integrals, Applied Mathematics and Computation 170 (2005) 874-885]. The obtained results are illustrated by solving some numerical examples.

Keywords: Guassian quadrature rules, fuzzy number, fuzzy integral, fuzzy solution.

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1133 Characterizations of Ordered Semigroups by (∈,∈ ∨q)-Fuzzy Ideals

Authors: Jian Tang

Abstract:

Let S be an ordered semigroup. In this paper we first introduce the concepts of (∈,∈ ∨q)-fuzzy ideals, (∈,∈ ∨q)-fuzzy bi-ideals and (∈,∈ ∨q)-fuzzy generalized bi-ideals of an ordered semigroup S, and investigate their related properties. Furthermore, we also define the upper and lower parts of fuzzy subsets of an ordered semigroup S, and investigate the properties of (∈,∈ ∨q)-fuzzy ideals of S. Finally, characterizations of regular ordered semigroups and intra-regular ordered semigroups by means of the lower part of (∈ ,∈ ∨q)-fuzzy left ideals, (∈,∈ ∨q)-fuzzy right ideals and (∈,∈ ∨q)- fuzzy (generalized) bi-ideals are given.

Keywords: Ordered semigroup, regular ordered semigroup, intraregular ordered semigroup, (∈, ∈ ∨q)-fuzzy left (right) ideal of an ordered semigroup, (∈, ∈ ∨q)-fuzzy (generalized) bi-ideal of an ordered semigroup.

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1132 Prioritization Method in the Fuzzy Analytic Network Process by Fuzzy Preferences Programming Method

Authors: Tarifa S. Almulhim, Ludmil Mikhailov, Dong-Ling Xu

Abstract:

In this paper, a method for deriving a group priority vector in the Fuzzy Analytic Network Process (FANP) is proposed. By introducing importance weights of multiple decision makers (DMs) based on their experiences, the Fuzzy Preferences Programming Method (FPP) is extended to a fuzzy group prioritization problem in the FANP. Additionally, fuzzy pair-wise comparison judgments are presented rather than exact numerical assessments in order to model the uncertainty and imprecision in the DMs- judgments and then transform the fuzzy group prioritization problem into a fuzzy non-linear programming optimization problem which maximize the group satisfaction. Unlike the known fuzzy prioritization techniques, the new method proposed in this paper can easily derive crisp weights from incomplete and inconsistency fuzzy set of comparison judgments and does not require additional aggregation producers. Detailed numerical examples are used to illustrate the implement of our approach and compare with the latest fuzzy prioritization method.

Keywords: Fuzzy Analytic Network Process (FANP), Fuzzy Non-linear Programming, Fuzzy Preferences Programming Method (FPP), Multiple Criteria Decision-Making (MCDM), Triangular Fuzzy Number.

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1131 Fuzzy Decision Making via Multiple Attribute

Authors: Behnaz Zohouri, Mahdi Zowghiand, Mohsen haghighi

Abstract:

In this paper, a method for decision making in fuzzy environment is presented.A new subjective and objective integrated approach is introduced that used to assign weight attributes in fuzzy multiple attribute decision making (FMADM) problems and alternatives and fmally ranked by proposed method.

Keywords: Multiple Attribute Decision Making, Triangular fuzzy numbers, ranking index, Fuzzy Entropy.

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1130 Isomorphism on Fuzzy Graphs

Authors: A.Nagoor Gani, J.Malarvizhi

Abstract:

In this paper, the order, size and degree of the nodes of the isomorphic fuzzy graphs are discussed. Isomorphism between fuzzy graphs is proved to be an equivalence relation. Some properties of self complementary and self weak complementary fuzzy graphs are discussed.

Keywords: complementary fuzzy graphs, co-weak isomorphism, equivalence relation, fuzzy relation, weak isomorphism.

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1129 An Interval Type-2 Dual Fuzzy Polynomial Equations and Ranking Method of Fuzzy Numbers

Authors: Nurhakimah Ab. Rahman, Lazim Abdullah

Abstract:

According to fuzzy arithmetic, dual fuzzy polynomials cannot be replaced by fuzzy polynomials. Hence, the concept of ranking method is used to find real roots of dual fuzzy polynomial equations. Therefore, in this study we want to propose an interval type-2 dual fuzzy polynomial equation (IT2 DFPE). Then, the concept of ranking method also is used to find real roots of IT2 DFPE (if exists). We transform IT2 DFPE to system of crisp IT2 DFPE. This transformation performed with ranking method of fuzzy numbers based on three parameters namely value, ambiguity and fuzziness. At the end, we illustrate our approach by two numerical examples.

Keywords: Dual fuzzy polynomial equations, Interval type-2, Ranking method, Value.

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1128 Design of Robust Fuzzy Logic Power System Stabilizer

Authors: S. A. Taher, A. Shemshadi

Abstract:

Power system stabilizers (PSS) must be capable of providing appropriate stabilization signals over a broad range of operating conditions and disturbance. Traditional PSS rely on robust linear design method in an attempt to cover a wider range of operating condition. Expert or rule-based controllers have also been proposed. Recently fuzzy logic (FL) as a novel robust control design method has shown promising results. The emphasis in fuzzy control design center is around uncertainties in the system parameters & operating conditions. In this paper a novel Robust Fuzzy Logic Power System Stabilizer (RFLPSS) design is proposed The RFLPSS basically utilizes only one measurable Δω signal as input (generator shaft speed). The speed signal is discretized resulting in three inputs to the RFLPSS. There are six rules for the fuzzification and two rules for defuzzification. To provide robustness, additional signal namely, speed are used as inputs to RFLPSS enabling appropriate gain adjustments for the three RFLPSS inputs. Simulation studies show the superior performance of the RFLPSS compared with an optimally designed conventional PSS and discrete mode FLPSS.

Keywords: Controller design, Fuzzy Logic, PID, Power SystemStabilizer, Robust control.

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1127 An Innovative Fuzzy Decision Making Based Genetic Algorithm

Authors: M. A. Sharbafi, M. Shakiba Herfeh, Caro Lucas, A. Mohammadi Nejad

Abstract:

Several researchers have proposed methods about combination of Genetic Algorithm (GA) and Fuzzy Logic (the use of GA to obtain fuzzy rules and application of fuzzy logic in optimization of GA). In this paper, we suggest a new method in which fuzzy decision making is used to improve the performance of genetic algorithm. In the suggested method, we determine the alleles that enhance the fitness of chromosomes and try to insert them to the next generation. In this algorithm we try to present an innovative vaccination in the process of reproduction in genetic algorithm, with considering the trade off between exploration and exploitation.

Keywords: Genetic Algorithm, Fuzzy Decision Making.

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1126 Dependent Weighted Aggregation Operators of Hesitant Fuzzy Numbers

Authors: Jing Liu

Abstract:

In this paper, motivated by the ideas of dependent weighted aggregation operators, we develop some new hesitant fuzzy dependent weighted aggregation operators to aggregate the input arguments taking the form of hesitant fuzzy numbers rather than exact numbers, or intervals. In fact, we propose three hesitant fuzzy dependent weighted averaging(HFDWA) operators, and three hesitant fuzzy dependent weighted geometric(HFDWG) operators based on different weight vectors, and the most prominent characteristic of these operators is that the associated weights only depend on the aggregated hesitant fuzzy numbers and can relieve the influence of unfair hesitant fuzzy numbers on the aggregated results by assigning low weights to those “false” and “biased” ones. Some examples are given to illustrated the efficiency of the proposed operators.

Keywords: Hesitant fuzzy numbers, hesitant fuzzy dependent weighted averaging(HFDWA) operators, hesitant fuzzy dependent weighted geometric(HFDWG) operators.

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1125 Simplex Method for Fuzzy Variable Linear Programming Problems

Authors: S.H. Nasseri, E. Ardil

Abstract:

Fuzzy linear programming is an application of fuzzy set theory in linear decision making problems and most of these problems are related to linear programming with fuzzy variables. A convenient method for solving these problems is based on using of auxiliary problem. In this paper a new method for solving fuzzy variable linear programming problems directly using linear ranking functions is proposed. This method uses simplex tableau which is used for solving linear programming problems in crisp environment before.

Keywords: Fuzzy variable linear programming, fuzzy number, ranking function, simplex method.

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1124 Sensitizing Rules for Fuzzy Control Charts

Authors: N. Pekin Alakoç, A. Apaydın

Abstract:

Quality control charts indicate out of control conditions if any nonrandom pattern of the points is observed or any point is plotted beyond the control limits. Nonrandom patterns of Shewhart control charts are tested with sensitizing rules. When the processes are defined with fuzzy set theory, traditional sensitizing rules are insufficient for defining all out of control conditions. This is due to the fact that fuzzy numbers increase the number of out of control conditions. The purpose of the study is to develop a set of fuzzy sensitizing rules, which increase the flexibility and sensitivity of fuzzy control charts. Fuzzy sensitizing rules simplify the identification of out of control situations that results in a decrease in the calculation time and number of evaluations in fuzzy control chart approach.

Keywords: Fuzzy set theory, Quality control charts, Run Rules, Unnatural patterns.

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1123 A Note on Characterization of Regular Γ-Semigroups in terms of (∈,∈ ∨q)-Fuzzy Bi-ideal

Authors: S.K.Sardar, B.Davvaz, S.Kayal, S.K.Majumdar

Abstract:

The purpose of this note is to obtain some properties of (∈,∈ ∨q)- fuzzy bi-ideals in a Γ-semigroup in order to characterize regular and intra-regular Γ-semigroups.

Keywords: Regular Γ-semigroup, belong to or quasi-coincident, (∈, ∈ ∨q)-fuzzy subsemigroup, (∈, ∈ ∨q)-fuzzy bi-ideals.

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1122 Control and Navigation with Knowledge Bases

Authors: Miloš Šeda, Tomáš Březina

Abstract:

In this paper, we focus on the use of knowledge bases in two different application areas – control of systems with unknown or strongly nonlinear models (i.e. hardly controllable by the classical methods), and robot motion planning in eight directions. The first one deals with fuzzy logic and the paper presents approaches for setting and aggregating the rules of a knowledge base. Te second one is concentrated on a case-based reasoning strategy for finding the path in a planar scene with obstacles.

Keywords: fuzzy controller, fuzzification, rule base, inference, defuzzification, genetic algorithm, neural network, case-based reasoning

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1121 MPPT Operation for PV Grid-connected System using RBFNN and Fuzzy Classification

Authors: A. Chaouachi, R. M. Kamel, K. Nagasaka

Abstract:

This paper presents a novel methodology for Maximum Power Point Tracking (MPPT) of a grid-connected 20 kW Photovoltaic (PV) system using neuro-fuzzy network. The proposed method predicts the reference PV voltage guarantying optimal power transfer between the PV generator and the main utility grid. The neuro-fuzzy network is composed of a fuzzy rule-based classifier and three Radial Basis Function Neural Networks (RBFNN). Inputs of the network (irradiance and temperature) are classified before they are fed into the appropriated RBFNN for either training or estimation process while the output is the reference voltage. The main advantage of the proposed methodology, comparing to a conventional single neural network-based approach, is the distinct generalization ability regarding to the nonlinear and dynamic behavior of a PV generator. In fact, the neuro-fuzzy network is a neural network based multi-model machine learning that defines a set of local models emulating the complex and non-linear behavior of a PV generator under a wide range of operating conditions. Simulation results under several rapid irradiance variations proved that the proposed MPPT method fulfilled the highest efficiency comparing to a conventional single neural network.

Keywords: MPPT, neuro-fuzzy, RBFN, grid-connected, photovoltaic.

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1120 Some Equalities Connected with Fuzzy Soft Matrices

Authors: D. R. Jain

Abstract:

The aim of this paper is to use matrix representation of Fuzzy soft sets for proving some equalities connected with Fuzzy soft sets based on set-operations.

Keywords: Equality, Fuzzy soft matrix, Fuzzy soft sets, operations.

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1119 Fuzzy Shortest Paths Approximation for Solving the Fuzzy Steiner Tree Problem in Graphs

Authors: Miloš Šeda

Abstract:

In this paper, we deal with the Steiner tree problem (STP) on a graph in which a fuzzy number, instead of a real number, is assigned to each edge. We propose a modification of the shortest paths approximation based on the fuzzy shortest paths (FSP) evaluations. Since a fuzzy min operation using the extension principle leads to nondominated solutions, we propose another approach to solving the FSP using Cheng's centroid point fuzzy ranking method.

Keywords: Steiner tree, single shortest path problem, fuzzyranking, binary heap, priority queue.

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1118 Ranking Fuzzy Numbers Based On Epsilon-Deviation Degree

Authors: Vincent F. Yu, Ha Thi Xuan Chi

Abstract:

Nejad and Mashinchi (2011) proposed a revision for ranking fuzzy numbers based on the areas of the left and the right sides of a fuzzy number. However, this method still has some shortcomings such as lack of discriminative power to rank similar fuzzy numbers and no guarantee the consistency between the ranking of fuzzy numbers and the ranking of their images. To overcome these drawbacks, we propose an epsilon-deviation degree method based on the left area and the right area of a fuzzy number, and the concept of the centroid point. The main advantage of the new approach is the development of an innovative index value which can be used to consistently evaluate and rank fuzzy numbers. Numerical examples are presented to illustrate the efficiency and superiority of the proposed method.

Keywords: Ranking fuzzy numbers, Centroid, Deviation degree.

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1117 Intuitionistic Fuzzy Implicative Ideals with Thresholds (λ,μ) of BCI-Algebras

Authors: Qianqian Li, Shaoquan Sun

Abstract:

The aim of this paper is to introduce the notion of intuitionistic fuzzy implicative ideals with thresholds (λ, μ) of BCI-algebras and to investigate its properties and characterizations.

Keywords: BCI-algebra, intuitionistic fuzzy set, intuitionistic fuzzy ideal with thresholds (λ, μ), intuitionistic fuzzy implicative ideal with thresholds (λ, μ).

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1116 The Research of Fuzzy Classification Rules Applied to CRM

Authors: Chien-Hua Wang, Meng-Ying Chou, Chin-Tzong Pang

Abstract:

In the era of great competition, understanding and satisfying customers- requirements are the critical tasks for a company to make a profits. Customer relationship management (CRM) thus becomes an important business issue at present. With the help of the data mining techniques, the manager can explore and analyze from a large quantity of data to discover meaningful patterns and rules. Among all methods, well-known association rule is most commonly seen. This paper is based on Apriori algorithm and uses genetic algorithms combining a data mining method to discover fuzzy classification rules. The mined results can be applied in CRM to help decision marker make correct business decisions for marketing strategies.

Keywords: Customer relationship management (CRM), Data mining, Apriori algorithm, Genetic algorithm, Fuzzy classification rules.

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1115 Takagi-Sugeno Fuzzy Control of Induction Motor

Authors: Allouche Moez, Souissi Mansour, Chaabane Mohamed, Mehdi Driss

Abstract:

This paper deals with the synthesis of fuzzy state feedback controller of induction motor with optimal performance. First, the Takagi-Sugeno (T-S) fuzzy model is employed to approximate a non linear system in the synchronous d-q frame rotating with electromagnetic field-oriented. Next, a fuzzy controller is designed to stabilise the induction motor and guaranteed a minimum disturbance attenuation level for the closed-loop system. The gains of fuzzy control are obtained by solving a set of Linear Matrix Inequality (LMI). Finally, simulation results are given to demonstrate the controller-s effectiveness.

Keywords: Rejection disturbance, fuzzy modelling, open-loop control, Fuzzy feedback controller, fuzzy observer, Linear Matrix Inequality (LMI)

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1114 Prime(Semiprime) Fuzzy h-ideal in Γ-hemiring

Authors: Sujit Kumar Sardar, Debabrata Mandal

Abstract:

The notions of prime(semiprime) fuzzy h-ideal(h-biideal, h-quasi-ideal) in Γ-hemiring are introduced and some of their characterizations are obtained by using "belongingness(∈)" and "quasi - coincidence(q)". Cartesian product of prime(semiprime) fuzzy h-ideals of Γ-hemirings are also investigated.

Keywords: Γ-hemiring, Fuzzy h-ideals, Prime fuzzy left h-ideal, Prime(semiprime) (∈, ∈ ∨q)-fuzzy left h-bi-ideal(h-ideal, h-quasiideal), Cartesian product

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1113 A Hybrid Fuzzy AGC in a Competitive Electricity Environment

Authors: H. Shayeghi, A. Jalili

Abstract:

This paper presents a new Hybrid Fuzzy (HF) PID type controller based on Genetic Algorithms (GA-s) for solution of the Automatic generation Control (AGC) problem in a deregulated electricity environment. In order for a fuzzy rule based control system to perform well, the fuzzy sets must be carefully designed. A major problem plaguing the effective use of this method is the difficulty of accurately constructing the membership functions, because it is a computationally expensive combinatorial optimization problem. On the other hand, GAs is a technique that emulates biological evolutionary theories to solve complex optimization problems by using directed random searches to derive a set of optimal solutions. For this reason, the membership functions are tuned automatically using a modified GA-s based on the hill climbing method. The motivation for using the modified GA-s is to reduce fuzzy system effort and take large parametric uncertainties into account. The global optimum value is guaranteed using the proposed method and the speed of the algorithm-s convergence is extremely improved, too. This newly developed control strategy combines the advantage of GA-s and fuzzy system control techniques and leads to a flexible controller with simple stricture that is easy to implement. The proposed GA based HF (GAHF) controller is tested on a threearea deregulated power system under different operating conditions and contract variations. The results of the proposed GAHF controller are compared with those of Multi Stage Fuzzy (MSF) controller, robust mixed H2/H∞ and classical PID controllers through some performance indices to illustrate its robust performance for a wide range of system parameters and load changes.

Keywords: AGC, Hybrid Fuzzy Controller, Deregulated Power System, Power System Control, GAs.

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1112 On the Fuzzy Difference Equation xn+1 = A +

Authors: Qianhong Zhang, Lihui Yang, Daixi Liao,

Abstract:

In this paper, we study the existence, the boundedness and the asymptotic behavior of the positive solutions of a fuzzy nonlinear difference equations xn+1 = A + k i=0 Bi xn-i , n= 0, 1, · · · . where (xn) is a sequence of positive fuzzy numbers, A,Bi and the initial values x-k, x-k+1, · · · , x0 are positive fuzzy numbers. k ∈ {0, 1, 2, · · ·}.

Keywords: Fuzzy difference equation, boundedness, persistence, equilibrium point, asymptotic behaviour.

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1111 Correspondence Theorem for Anti L-fuzzy Normal Subgroups

Authors: Jian Tang, Yunfei Yao

Abstract:

In this paper the concept of the cosets of an anti Lfuzzy normal subgroup of a group is given. Furthermore, the group G/A of cosets of an anti L-fuzzy normal subgroup A of a group G is shown to be isomorphic to a factor group of G in a natural way. Finally, we prove that if f : G1 -→ G2 is an epimorphism of groups, then there is a one-to-one order-preserving correspondence between the anti L-fuzzy normal subgroups of G2 and those of G1 which are constant on the kernel of f.

Keywords: Group; anti L-fuzzy subgroups; anti L-fuzzy normal subgroups; cosets of an anti L-fuzzy normal subgroup.

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1110 Comparative Study of Some Adaptive Fuzzy Algorithms for Manipulator Control

Authors: Sudeept Mohan, Surekha Bhanot

Abstract:

The problem of manipulator control is a highly complex problem of controlling a system which is multi-input, multioutput, non-linear and time variant. In this paper some adaptive fuzzy, and a new hybrid fuzzy control algorithm have been comparatively evaluated through simulations, for manipulator control. The adaptive fuzzy controllers consist of self-organizing, self-tuning, and coarse/fine adaptive fuzzy schemes. These controllers are tested for different trajectories and for varying manipulator parameters through simulations. Various performance indices like the RMS error, steady state error and maximum error are used for comparison. It is observed that the self-organizing fuzzy controller gives the best performance. The proposed hybrid fuzzy plus integral error controller also performs remarkably well, given its simple structure.

Keywords: Hybrid fuzzy, Self-organizing, Self-tuning, Trajectory tracking.

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