Optimal Control Based on Fuzzy Logic
This paper introduces an algorithm for optimal control, whose first idea was developed in a PhD-thesis under supervision of Rudolf Kruse in the mid of the nineties. In that project, the algorithm was developed theoretically and tested in simulation, while in 2011 a new project was started, where this algorithm shall be applied to a given real-world problem with all the restrictions and additional detail problems that arise in real-world applications. The basic idea of this algorithm is to discretize and bound the state space and to find optimal trajectories from any point in this finite state space to a predefined set point. First, the connection weights between each two points of the discretized state space are estimated, which is based on fuzzy logic. Then, the optimum trajectories are calculated with the help of Dijkstra’s algorithm.
KeywordsFuzzy Logic Fuzzy Rule Fuzzy Model Fuzzy Controller Optimal Trajectory
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