def main():
e_univ = np.linspace(-2.57, 2.57, 1000)
e_fuzzy_set_1 = [-1.285, 0.5, 'l_inf']
e_fuzzy_set_2 = [0, 0.5, 'none']
e_fuzzy_set_3 = [1.285, 0.5, 'r_inf']
e_dot_univ = np.linspace(-4.15, 4.15, 1000)
e_dot_fuzzy_set_1 = [-1.57, 0.5, 'l_inf']
e_dot_fuzzy_set_2 = [0, 0.5, 'none']
e_dot_fuzzy_set_3 = [1.57, 0.5, 'r_inf']
i_univ = np.linspace(-30, 30, 1000)
i_fuzzy_set_1 = [-15, 0.25, 'none']
i_fuzzy_set_2 = [0, 0.25, 'none']
i_fuzzy_set_3 = [15, 0.25, 'none']
e_fuzz_set = [e_fuzzy_set_1, e_fuzzy_set_2, e_fuzzy_set_3]
e_dot_fuzz_set = [e_dot_fuzzy_set_1, e_dot_fuzzy_set_2, e_dot_fuzzy_set_3]
i_fuzz_set = [i_fuzzy_set_1, i_fuzzy_set_2, i_fuzzy_set_3]
names = ["N", "Z", "P"]
e_memship = np.zeros((3, ), dtype=object)
e_dot_memship = np.zeros((3, ), dtype=object)
i_memship = np.zeros((3, ), dtype=object)
for i in range(len(e_fuzz_set)):
e_memship[i] = fuzz.membership('gauss', e_fuzz_set[i], e_univ,
names[i])
e_dot_memship[i] = fuzz.membership('gauss', e_dot_fuzz_set[i],
e_dot_univ, names[i])
i_memship[i] = fuzz.membership('gauss', i_fuzz_set[i], i_univ,
names[i])
params = [e_memship, e_dot_memship, i_memship]
x0 = [1.57, 0]
t0 = 0
t1 = 10
dt = 0.001
state = np.zeros((10001, 2))
i = 0
t = []
r = ode(model).set_integrator('vode').set_f_params(
params).set_initial_value(x0, t0)
while r.successful() and r.t < t1:
r.integrate(r.t + dt)
xdes = (math.pi / 2) + math.sin(math.pi * r.t)
state[i] = r.y
state[i, 0] = xdes - state[i, 0]
t.append(r.t)
i += 1
plt.plot(t, state[:, 0])
plt.show()
def main():
# create fuzzy system
# initial fuzzy set parameters
b_0 = np.random.rand(5, 1) * 15.0
c_0 = np.random.rand(5, 1) * 6.0
sig_0 = np.random.rand(5, 1) * 2.0
# create fuzzy sets
memship = []
for i in range(len(b_0)):
p = [c_0[i, 0], sig_0[i, 0], "none"]
memship.append(fuzz.membership("gauss", p, x, "none"))
b, c, sig = simulate(memship, b_0, c_0, sig_0)
memship = update_fuzzy_sets(memship, c, sig)
b, c, sig = simulate(memship, b, c, sig)
memship = update_fuzzy_sets(memship, c, sig)
b, c, sig = simulate(memship, b, c, sig)
memship = update_fuzzy_sets(memship, c, sig)
b, c, sig = simulate(memship, b, c, sig)
memship = update_fuzzy_sets(memship, c, sig)
b, c, sig = simulate(memship, b, c, sig)
memship = update_fuzzy_sets(memship, c, sig)
b, c, sig = simulate(memship, b, c, sig)
memship = update_fuzzy_sets(memship, c, sig)
compare(b, c, sig, memship)
def setup_fuzz_sys():
# define universes of input variables
e_phi_univ = np.linspace(-math.pi / 2.0, math.pi / 2.0, 1000)
e_theta_univ = np.linspace(-math.pi / 2.0, math.pi / 2.0, 1000)
e_psi_univ = np.linspace(-math.pi, math.pi, 1000)
de_phi_univ = np.linspace(-1.74, 1.74, 1000)
de_theta_univ = np.linspace(-1.74, 1.74, 1000)
de_psi_univ = np.linspace(-1.74, 1.74, 1000)
e_univ = [e_phi_univ, e_theta_univ, e_psi_univ]
de_univ = [de_phi_univ, de_theta_univ, de_psi_univ]
# define centres for each input
e_phi_c = np.array([-0.785, -0.3925, 0, 0.3925, 0.785])
e_theta_c = np.array([-0.785, -0.3925, 0, 0.3925, 0.785])
e_psi_c = np.array([-math.pi / 2, -0.785, 0, 0.785, math.pi / 2])
de_phi_c = np.array([-0.872, -0.436, 0, 0.436, 0.785])
de_theta_c = np.array([-0.872, -0.436, 0, 0.436, 0.785])
de_psi_c = np.array([-0.872, -0.436, 0, 0.436, 0.785])
e_c = [e_phi_c, e_theta_c, e_psi_c]
de_c = [de_phi_c, de_theta_c, de_psi_c]
# define spreads
sig = 0.184
# make memberships
e_membership = []
de_membership = []
for i in range(n_angles):
temp1 = []
temp2 = []
# get parameters for input
c = e_c[i]
dc = de_c[i]
for j in range(n_sets):
# make parameter vectors for sets
p1 = [c[j], sig, "none"]
p2 = [dc[j], sig, "none"]
temp1.append(fuzz.membership("gauss", p1, e_univ[i], "none"))
temp2.append(fuzz.membership("gauss", p2, de_univ[i], "none"))
e_membership.append(temp1)
de_membership.append(temp2)
return [e_membership, de_membership]
def main():
x1_univ = np.linspace(-1000, 1000, 10000)
x1_fuzz_set_1 = [-1, -1, 0]
x1_fuzz_set_2 = [-1, 0, 1]
x1_fuzz_set_3 = [0, 1, 1]
x2_univ = np.linspace(-1000, 1000, 10000)
x2_fuzz_set_1 = [-1, -1, 0]
x2_fuzz_set_2 = [-1, 0, 1]
x2_fuzz_set_3 = [0, 1, 1]
names = ["left", "center", "right"]
x1_fuzz_set = [x1_fuzz_set_1, x1_fuzz_set_2, x1_fuzz_set_3]
x2_fuzz_set = [x2_fuzz_set_1, x2_fuzz_set_2, x2_fuzz_set_3]
x1_fuzz_mem = []
x2_fuzz_mem = []
for i in range(len(x1_fuzz_set)):
x1_fuzz_mem.append(
fuzz.membership('trimf', x1_fuzz_set[i], x1_univ, names[i]))
x2_fuzz_mem.append(
fuzz.membership('trimf', x2_fuzz_set[i], x2_univ, names[i]))
params = [x1_fuzz_mem, x2_fuzz_mem]
x0 = [0, 0]
t0 = 0
t1 = 8
dt = 0.001
r = ode(model).set_integrator('vode').set_f_params(
params).set_initial_value(x0, t0)
state = np.zeros((8000, 2))
t = []
i = 0
while r.successful() and r.t < t1:
r.integrate(r.t + dt)
state[i] = r.y
t.append(r.t)
i += 1
plt.plot(t, state[:, 0], t, state[:, 1])
plt.show()
def make_fuzzy_sets():
# define universe of e
e_univ = np.linspace(-3, 3, 1000)
# centres and spreads
c = [-1.5, 0, 1.5]
sig = 0.484
# make the fuzzy sets
names = ["F1", "F2", "F3"]
memship = []
for i in range(len(c)):
p = [c[i], sig, "none"]
memship.append(fuzz.membership("gauss", p, e_univ, names[i]))
return memship
import fuzzy_tools as fuzz
import numpy as np
p1 = [-1, 0.5]
p2 = [0, 0.5]
p3 = [1, 0.5]
p = [p1, p2, p3]
univ = np.linspace(-3, 3, 1000)
a = []
for x in p:
a.append(fuzz.membership('gauss', x, univ, 'test'))
for x in a:
fuzz.make_memship(x)
fuzz.plot_memship(a)
def main():
e_mem = []
edot_mem = []
v_mem = []
e_fuzz_set_1 = [-0.5, 0.5, 'l_inf']
e_fuzz_set_2 = [-0.25, 0.5, 'none']
e_fuzz_set_3 = [0, 0.5, 'none']
e_fuzz_set_4 = [0.25, 0.5, 'none']
e_fuzz_set_5 = [0.5, 0.5, 'r_inf']
e_univ = np.linspace(-20.5, 20.5, 120)
edot_fuzz_set_1 = [-4, 0.5, 'l_inf']
edot_fuzz_set_3 = [-2, 0.5, 'none']
edot_fuzz_set_4 = [0, 0.5, 'none']
edot_fuzz_set_5 = [2, 0.5, 'none']
edot_fuzz_set_2 = [4, 0.5, 'r_inf']
edot_univ = np.linspace(-30, 30, 100)
v_fuzz_set_1 = [-10.0]
v_fuzz_set_2 = [-5.0]
v_fuzz_set_3 = [0.0]
v_fuzz_set_4 = [5.0]
v_fuzz_set_5 = [10.0]
v_univ = np.linspace(-30, 30, 200)
e_fuzz_set = [
e_fuzz_set_1, e_fuzz_set_2, e_fuzz_set_3, e_fuzz_set_4, e_fuzz_set_5
]
edot_fuzz_set = [
edot_fuzz_set_1, edot_fuzz_set_2, edot_fuzz_set_3, edot_fuzz_set_4,
edot_fuzz_set_5
]
v_fuzz_set = [
v_fuzz_set_1, v_fuzz_set_2, v_fuzz_set_3, v_fuzz_set_4, v_fuzz_set_5
]
names = ['NL', 'NS', 'Z', 'PS', 'PL']
for i in range(len(edot_fuzz_set)):
e_mem.append(fuzz.membership('gauss', e_fuzz_set[i], e_univ, names[i]))
edot_mem.append(
fuzz.membership('gauss', edot_fuzz_set[i], edot_univ, names[i]))
v_mem.append(
fuzz.membership('singleton', v_fuzz_set[i], v_univ, names[i]))
params = [e_mem, edot_mem, v_mem]
x0 = [-0.12, 0.0]
t0 = 0
t1 = 10
dt = 0.01
r = ode(model).set_integrator('vode').set_initial_value(
x0, t0).set_f_params(params)
state = np.zeros((1001, 2))
t = []
i = 0
while r.successful() and r.t < t1:
r.integrate(r.t + dt)
state[i] = r.y
t.append(r.t)
i += 1
plt.plot(t, state[:, 0])
plt.grid()
plt.show()
g_cap = np.zeros_like(x1_cap)
for i in range(len(x1_cap)):
g_cap[i] = sin(x1_cap[i]) * ((cos(x2_cap[i]))**2)
# fuzzy sets
centres = [-1.0, -0.5, 0, 0.5, 1]
spread = 0.2123
option = 'none'
params = []
names = 'none'
memship_1 = []
memship_2 = []
for x in centres:
params.append([x, spread, option])
for x in params:
memship_1.append(fuzz.membership('gauss', x, x1, names))
memship_2.append(fuzz.membership('gauss', x, x2, names))
# fuzzified value set
fuzz_val_set_1 = np.zeros((len(x1_cap), len(memship_1)))
fuzz_val_set_2 = np.zeros((len(x2_cap), len(memship_2)))
temp = np.zeros((len(memship_1), ))
for i in range(len(x1_cap)):
for j in range(len(memship_1)):
fuzz.fuzzify(x1_cap[i], memship_1[j])
temp[j] = memship_1[j].fuzz_val
fuzz_val_set_1[i] = temp
for i in range(len(x2_cap)):
for j in range(len(memship_2)):
fuzz.fuzzify(x2_cap[i], memship_2[j])
temp[j] = memship_2[j].fuzz_val
# universe
x = np.linspace(0, 6, 100)
# no of iterations
n_points = 200
# fuzzy sets
p1 = [0, 1.184, "none"]
p2 = [2, 1.184, "none"]
p3 = [4, 1.184, "none"]
p4 = [6, 1.184, "none"]
params = [p1, p2, p3, p4]
input_fuzz_set = []
for z in params:
input_fuzz_set.append(fuzz.membership("gauss", z, x, "none"))
# to get parameter estimate
def get_estimate(data_point_x, prev_lam, prev_theta):
# getting fuzzified value
fuzz_val = []
for mem in input_fuzz_set:
fuzz.fuzzify(data_point_x, mem)
fuzz_val.append(mem.fuzz_val)
# premise values
premise_val = np.zeros((len(fuzz_val),))
for i in range(len(fuzz_val)):
premise_val[i] = fuzz_val[i]
# implied fuzzy set membership equals the premise values as we are usign singleton sets
g = x - cos(1.5*x) + sin(0.4*x)
# datapoints for getting estimated g(x)
x_estimate = [0, 1, 2, 3, 4, 5, 6]
g_estimate = [-1.0, 1.3187, 3.7073, 4.1428, 4.0394, 5.5627, 7.5866]
# fuzzy sets
p1 = [0, 1.184, 'none']
p2 = [2, 1.184, 'none']
p3 = [4, 1.184, 'none']
p4 = [6, 1.184, 'none']
params = [p1, p2, p3, p4]
memship = []
names = 'none'
for z in params:
memship.append(fuzz.membership('gauss', z, x, 'none'))
# premise memship and fuzzy basis
fuzz_val_set = np.zeros((len(x_estimate), len(memship)))
temp = np.zeros((len(memship),))
for i in range(len(x_estimate)):
for j in range(len(memship)):
fuzz.fuzzify(x_estimate[i], memship[j])
temp[j] = memship[j].fuzz_val
fuzz_val_set[i] = temp
# LSE
phi = np.zeros_like(fuzz_val_set)
for i in range(len(x_estimate)):
a1 = np.sum(fuzz_val_set[i])
b1 = (fuzz_val_set[i])/a1
