Automatic Adaptation of Fuzzy Controllers

Abstract

The main drawback of 'classical' fuzzy systems is the inability to design and maintain their database. To overcome this disadvantage many types of extensions adding the adaptivity property to those systems were designed. This paper deals with two of them: an improved the so-called self-organizing fuzzy logic controller designed by Procyk and Mamdani as well as a new hybrid adaptation structure, called gradient-incremental adaptive fuzzy controller connecting gradient-descent methods with the first type. Both types of adaptive fuzzy controllers are shown on design of an automatic pilot and control of LEGO robots. The results and comparison to a 'classical' (non-adaptive) fuzzy controller designed by a human operator are also shown here.