Session

Mechatronics Robotics and System Engineering

Description

Complex systems have become a research area with increasing interest over the last years. The emergence of new technologies, the increase in computational power with reduced resources and cost, the integration of the physical world with computer based systems has created the possibility of significantly improving the quality of life of humans. While a significant degree of automation within these systems exists and has been provided in the past decade with examples of the smart homes and energy efficient buildings, a paradigm shift towards autonomy has been noted. The need for autonomy requires the extraction of a model; while a strict mathematical formulation usually exists for the individual subsystems, finding a complete mathematical formulation for the complex systems is a near impossible task to accomplish.

For this reason, methods such as the Fuzzy Cognitive Maps (FCM) have emerged that are able to provide with a description of the complex system. The system description results from empirical observations made from experts in the related subject – integration of expert’s knowledge – that provide the required cause-effect relations between the interacting components that the FCM needs in order to be formulated. Learning methods are employed that are able to improve the formulated model based on measurements from the actual system. The FCM method, that is able to inherently integrate uncertainties, is able to provide an adequate model for the study of a complex system.

With the required system model, the next step towards the development of a autonomous systems is the creation of a control scheme. While FCM can provide with a system model, the system representation proves inadequate to be utilized to design classic model based controllers that require a state space or frequency domain representation. In state space representation, the state vector contains the variables of the system that can describe enough about the system to determine its future behavior in absence of external variables. Thus, within the components – the nodes of the FCM, ideally those can be identified that constitute the state vector of the system.

In this work the authors propose the creation of a state feedback control law of complex systems via Fuzzy Cognitive Maps. Given the FCM representation of a system, initially the components-states of the system are identified. Given the identified states, a FCM representation of the controller occurs where the controller parameters are the weights of the cause-effect relations of the system. The FCM of the system then is augmented with the FCM of the controller. An example of the proposed methodology is given via the use of the cart-pendulum system, a common benchmark system for testing the efficiency of control systems.

Session Chair

Peter Kopacek

Session Co-Chair

Valmir Hoxha

Proceedings Editor

Edmond Hajrizi

ISBN

978-9951-437-61-5

First Page

25

Last Page

30

Location

Durres, Albania

Start Date

27-10-2017 1:00 PM

End Date

27-10-2017 2:30 PM

DOI

10.33107/ubt-ic.2017.281

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Oct 27th, 1:00 PM Oct 27th, 2:30 PM

State Feedback of Complex Systems using Fuzzy Cognitive Maps

Durres, Albania

Complex systems have become a research area with increasing interest over the last years. The emergence of new technologies, the increase in computational power with reduced resources and cost, the integration of the physical world with computer based systems has created the possibility of significantly improving the quality of life of humans. While a significant degree of automation within these systems exists and has been provided in the past decade with examples of the smart homes and energy efficient buildings, a paradigm shift towards autonomy has been noted. The need for autonomy requires the extraction of a model; while a strict mathematical formulation usually exists for the individual subsystems, finding a complete mathematical formulation for the complex systems is a near impossible task to accomplish.

For this reason, methods such as the Fuzzy Cognitive Maps (FCM) have emerged that are able to provide with a description of the complex system. The system description results from empirical observations made from experts in the related subject – integration of expert’s knowledge – that provide the required cause-effect relations between the interacting components that the FCM needs in order to be formulated. Learning methods are employed that are able to improve the formulated model based on measurements from the actual system. The FCM method, that is able to inherently integrate uncertainties, is able to provide an adequate model for the study of a complex system.

With the required system model, the next step towards the development of a autonomous systems is the creation of a control scheme. While FCM can provide with a system model, the system representation proves inadequate to be utilized to design classic model based controllers that require a state space or frequency domain representation. In state space representation, the state vector contains the variables of the system that can describe enough about the system to determine its future behavior in absence of external variables. Thus, within the components – the nodes of the FCM, ideally those can be identified that constitute the state vector of the system.

In this work the authors propose the creation of a state feedback control law of complex systems via Fuzzy Cognitive Maps. Given the FCM representation of a system, initially the components-states of the system are identified. Given the identified states, a FCM representation of the controller occurs where the controller parameters are the weights of the cause-effect relations of the system. The FCM of the system then is augmented with the FCM of the controller. An example of the proposed methodology is given via the use of the cart-pendulum system, a common benchmark system for testing the efficiency of control systems.