Mamdani or Larsen

[Unknown]

Hi,
I’m wondering which method I’m using in my controller by using fuzzylite.

I’ve used the example proposed an I have made my own model (see below for source code) where the rules are added by this kind of instruction:

block->addRule(new fl::MamdaniRule(“if Cres is FINE and Rgain is LOW then Cvar is UP”, engine));

Is this enough to say that, with fuzzylite, I’m using Mamdani max-min?

How can I use Larsen method (if it is possible)?

M

#include "fzyCtrlModel.h"
//#include <fuzzylite/FuzzyLite.h>
//#include <fuzzylite/FunctionTerm.h>
#include <fl/fuzzylite.h>
#include <fl/term/Term.h>
#include <limits>
#include <fstream>

using namespace std;

namespace fl {
void fzyCtrlModel::webServerCtrl(double RgainScalar, double CresScalar, double* CvarScalar, double x, double y) {

	fl::Engine* engine = new fl::Engine("webserver");
       
	fl::InputVariable* Cres = new fl::InputVariable;
	Cres->setName("Cres");
 	Cres->setRange(0.0, 1.0);
	
	Cres->addTerm(new fl::Ramp("LOW", 0.15, 0.1));
 	Cres->addTerm(new fl::Triangle("FINE", 0.10, 0.15, 0.20));
 	Cres->addTerm(new fl::Ramp("HIGH", 0.15, 0.20));
 	engine->addInputVariable(Cres);

	//*****************SECOND INPUT VALUE************************
	fl::InputVariable* Rgain = new fl::InputVariable;
	Rgain->setName("Rgain");
 	Rgain->setRange(0.0, 1.0);
	
	Rgain->addTerm(new fl::Ramp("LOW", 0.15, x));
 	Rgain->addTerm(new fl::Triangle("FINE", 0.10, 0.15, 0.20));
 	Rgain->addTerm(new fl::Ramp("HIGH", 0.15, y));
 	engine->addInputVariable(Rgain);

	//*****************OUTPUT VALUE************************
	fl::OutputVariable* Cvar = new fl::OutputVariable;
	Cvar->setName("Cvar");
 	Cvar->setRange(-0.30, 0.30);
 	Cvar->setDefaultValue(0);

	Cvar->addTerm(new fl::Ramp("BDW", -0.10, -0.2));
	Cvar->addTerm(new fl::Triangle("DWN", -0.20, -0.1, -0.05));
	Cvar->addTerm(new fl::Triangle("STY", -0.10, 0, 0.10));
	Cvar->addTerm(new fl::Triangle("UP", 0.05, 0.1, 0.20));
	Cvar->addTerm(new fl::Ramp("BUP", 0.1, 0.20));

        engine->addOutputVariable(Cvar);
	
	//***********************RULES*************************
	fl::RuleBlock* ruleblock = new fl::RuleBlock;

	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is LOW and Rgain is LOW then Cvar is BUP", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is LOW and Rgain is FINE then Cvar is UP", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is LOW and Rgain is HIGH then Cvar is STY", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is FINE and Rgain is LOW then Cvar is UP", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is FINE and Rgain is FINE then Cvar is STY", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is FINE and Rgain is HIGH then Cvar is DWN", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is HIGH and Rgain is LOW then Cvar is STY", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is HIGH and Rgain is FINE then Cvar is DWN", engine));	
	ruleblock->addRule(fl::MamdaniRule::parse("if Cres is HIGH and Rgain is HIGH then Cvar is BDW", engine));	

        engine->addRuleBlock(ruleblock);

	engine->configure("Minimum", "Maximum", "AlgebraicProduct", "AlgebraicSum", "Centroid");
	
	fl::scalar inputCres=CresScalar;
	fl::scalar inputRgain=RgainScalar;

	//set input
	Cres->setInput(inputCres);
	Rgain->setInput(inputRgain);

       	engine->process();

 	//fl::scalar outputCvar = Cvar->output().defuzzify();
 	fl::scalar outputCvar = Cvar->defuzzify();

       	//(void)outMaxClient; //Just to avoid warning when building
       	//(void)outputCvar; //Just to avoid warning when building
			
    	//FL_LOG("Cres\tRgain\t ---> Cvar");
       	//cout<<"Cres\tRgain\t ---> Cvar"<<endl;

       	//FL_LOG(inputCres<<"\t"<<inputRgain<<"\t ---> "<< outputCvar);
       	//cout<<inputCres<<"\t"<<inputRgain<<"\t ---> "<< outputCvar<<endl;

	(*CvarScalar)=outputCvar;

	ofstream fzyLogFile;
	fzyLogFile.open("fzy.log",ios::app);

	/*	
 	cout<<"---------VERBOSE FUZZY ----------"<<endl;
	cout<<"Cres = " << inputCres<<endl;
  	cout<<"\tCres is " << Cres->fuzzify(inputCres)<<endl;

	cout<<"Rgain = " << inputRgain<<endl;
 	cout<<"\tRgain is " << Rgain->fuzzify(inputRgain)<<endl;

 	cout<<"Cvar = " << outputCvar<<endl;
      	cout<<"\tCvar is " << Cvar->fuzzify(outputCvar)<<endl;
       	cout<<"----------------------------------"<<endl; 
	*/

	fzyLogFile<<"Cres = " << inputCres<<endl;
  	fzyLogFile<<"\tCres is " << Cres->fuzzify(inputCres)<<endl;

	fzyLogFile<<"Rgain = " << inputRgain<<endl;
 	fzyLogFile<<"\tRgain is " << Rgain->fuzzify(inputRgain)<<endl;

 	fzyLogFile<<"Cvar = " << outputCvar<<endl;
      	fzyLogFile<<"\tCvar is " << Cvar->fuzzify(outputCvar)<<endl;
       	fzyLogFile<<"----------------------------------"<<endl; 

	fzyLogFile.close();
}
}

• This topic was modified 9 years, 6 months ago by Unknown.
• This topic was modified 9 years, 6 months ago by Juan Rada-Vilela (admin).

[Juan Rada-Vilela (admin)]

Hi Massimo,

The Larsen controller is just like a Mamdani but the Activation operator is the Algebraic Product.

Cheers,

Juan

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