Most of the dynamics in real-world systems are compiled by shifts and drifts, which are uneasy to be overcome by omnipresent neuro-fuzzy systems. Nonetheless, learning in nonstationary environment entails a system owning high degree of flexibility capable of assembling its rule base autonomously according to the degree of nonlinearity contained in the system. In practice, the rule growing and pruning are carried out merely benefiting from a small snapshot of the complete training data to truncate the computational load and memory demand to the low level. An exposure of a novel algorithm, namely parsimonious network based on fuzzy inference system (PANFIS), is to this end presented herein. PANFIS can commence its learning process from scratch with an empty rule base. The fuzzy rules can be stitched up and expelled by virtue of statistical contributions of the fuzzy rules and injected datum afterward. Identical fuzzy sets may be alluded and blended to be one fuzzy set as a pursuit of a transparent rule base escalating human's interpretability. The learning and modeling performances of the proposed PANFIS are numerically validated using several benchmark problems from real-world or synthetic datasets. The validation includes comparisons with state-of-the-art evolving neuro-fuzzy methods and showcases that our new method can compete and in some cases even outperform these approaches in terms of predictive fidelity and model complexity.

PANFIS: A Novel Incremental Learning Machine

Evolving fuzzy and neuro-fuzzy approaches in clustering, regression, identification, and classification: A Survey

This paper presents fuzzy wavelet neural network (FWNN) models for prediction and identification of nonlinear dynamical systems. The proposed FWNN models are obtained from the traditional Takagi-Sugeno-Kang fuzzy system by replacing the THEN part of fuzzy rules with wavelet basis functions that have the ability to localize both in time and frequency domains. The first and last model use summation and multiplication of dilated and translated versions of single-dimensional wavelet basis functions, respectively, and in the second model, THEN parts of the rules consist of radial function of wavelets. Gaussian type of activation functions are used in IF part of the fuzzy rules. A fast gradient-based training algorithm, i.e., the Broyden-Fletcher-Goldfarb-Shanno method, is used to find the optimal values for unknown parameters of the FWNN models. Simulation examples are also given to compare the effectiveness of the models with the other known methods in the literature. According to simulation results, we see that the proposed FWNN models have impressive generalization ability.

Fuzzy Wavelet Neural Network Models for Prediction and Identification of Dynamical Systems

In industry, most dynamical plants are characterized by unpredictable and hard-to-formulate factors, uncertainty, and fuzziness of information, and as a result, deterministic models usually prove to be insufficient to adequately describe the process In such situations, the use of fuzzy approaches becomes a viable alternative However, the systems constructed on the base of type 1 fuzzy systems cannot directly handle the uncertainties associated with information or data in the knowledge base of the process One possible way to alleviate the problem is to resort to the use of type 2 fuzzy systems In this paper, the structure of a type 2 Takagi–Sugeno–Kang fuzzy neural system is presented, and its parameter update rule is derived based on fuzzy clustering and gradient learning algorithm Its performance for identification and control of time-varying as well as some time-invariant plants is evaluated and compared with other approaches seen in the literature It is seen that the proposed structure is a potential candidate for identification and control purposes of uncertain plants, with the uncertainties being handled adequately by type 2 fuzzy sets

Type 2 Fuzzy Neural Structure for Identification and Control of Time-Varying Plants

This paper proposes a reinforcement ant optimized fuzzy controller (FC) design method, called RAOFC, and applies it to wheeled-mobile-robot wall-following control under reinforcement learning environments. The inputs to the designed FC are range-finding sonar sensors, and the controller output is a robot steering angle. The antecedent part in each fuzzy rule uses interval type-2 fuzzy sets in order to increase FC robustness. No a priori assignment of fuzzy rules is necessary in RAOFC. An online aligned interval type-2 fuzzy clustering (AIT2FC) method is proposed to generate rules automatically. The AIT2FC not only flexibly partitions the input space but also reduces the number of fuzzy sets in each input dimension, which improves controller interpretability. The consequent part of each fuzzy rule is designed using Q-value aided ant colony optimization (QACO). The QACO approach selects the consequent part from a set of candidate actions according to ant pheromone trails and Q-values, both of whose values are updated using reinforcement signals. Simulations and experiments on mobile-robot wall-following control show the effectiveness and efficiency of the proposed RAOFC.

Reinforcement Ant Optimized Fuzzy Controller for Mobile-Robot Wall-Following Control

This paper proposes a self-evolving interval type-2 fuzzy neural network (SEIT2FNN) with online structure and parameter learning. The antecedent parts in each fuzzy rule of the SEIT2FNN are interval type-2 fuzzy sets and the fuzzy rules are of the Takagi-Sugeno-Kang (TSK) type. The initial rule base in the SEIT2FNN is empty, and the online clustering method is proposed to generate fuzzy rules that flexibly partition the input space. To avoid generating highly overlapping fuzzy sets in each input variable, an efficient fuzzy set reduction method is also proposed. This method independently determines whether a corresponding fuzzy set should be generated in each input variable when a new fuzzy rule is generated. For parameter learning, the consequent part parameters are tuned by the rule-ordered Kalman filter algorithm for high-accuracy learning performance. Detailed learning equations on applying the rule-ordered Kalman filter algorithm to the SEIT2FNN consequent part learning, with rules being generated online, are derived. The antecedent part parameters are learned by gradient descent algorithms. The SEIT2FNN is applied to simulations on nonlinear plant modeling, adaptive noise cancellation, and chaotic signal prediction. Comparisons with other type-1 and type-2 fuzzy systems in these examples verify the performance of the SEIT2FNN.

A Self-Evolving Interval Type-2 Fuzzy Neural Network With Online Structure and Parameter Learning

This paper proposes a type-2 self-organizing neural fuzzy system (T2SONFS) and its hardware implementation. The antecedent parts in each T2SONFS fuzzy rule are interval type-2 fuzzy sets, and the consequent part is of Mamdani type. Using interval type-2 fuzzy sets in T2SONFS enables it to be more robust than type-1 fuzzy systems. T2SONFS learning consists of structure and parameter identification. For structure identification, an online clustering algorithm is proposed to generate rules automatically and flexibly distribute them in the input space. For parameter identification, a rule-ordered Kalman filter algorithm is proposed to tune the consequent-part parameters. The learned T2SONFS is hardware implemented, and implementation techniques are proposed to simplify the complex computation process of a type-2 fuzzy system. The T2SONFS is applied to nonlinear system identification and truck backing control problems with clean and noisy training data. Comparisons between type-1 and type-2 neural fuzzy systems verify the learning ability and robustness of the T2SONFS. The learned T2SONFS is hardware implemented in a field-programmable gate array chip to verify functionality of the designed circuits.

Yu-Wei Tsao

Papers

A Self-Evolving Interval Type-2 Fuzzy Neural Network With Online Structure and Parameter Learning

A Type-2 Self-Organizing Neural Fuzzy System and Its FPGA Implementation

A Self-Evolving Interval Type-2 Fuzzy Neural Network for Nonlinear Systems Identification