Optoelectronic implementation of real-time control of an inverted pendulum by fuzzy-logic-control units based on a light-emitting-diode array and a position-sensing device.
We have realized a novel optoelectronic implementation of an analog fuzzy-inference architecture, using the movement of the center of gravity of a far-field pattern. In the inference process Gaussianlike membership functions and a product-sum-gravity method are used. Antecedent membership functions and the grade evaluations are realized by combining light-emitting-diode (LED) arrays for sequential light emission and position-sensing devices for center-of-gravity detection. Consequent and defuzzification operations are realized by a LED array and a position-sensing device. High-speed fuzzy inference of more than several tens of mega fuzzy logical inference per second is possible with these units. The usefulness of the system is demonstrated by the real-time standing control of an inverted pendulum.
Itoh
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H
Optical Information Section, Optoelectronics Division, Electrotechnical Laboratory, Tsukuba, Ibaraki, 305 Japan.
Yamada
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T
Mukai
S
S
Watanabe
M
M
Brandl
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D