fuzzy-rudder-controller/ProjectExample3.m at main · GeoCd/fuzzy-rudder-controller · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
MicroCom = serialport('com5',9600,'Timeout',10);
fopen(MicroCom);

pause(1);

status=single(str2num(fscanf(MicroCom)));

if status==1
    condition1=true;
else
    condition1=false;
    warning('Connection Failed');
end


while condition1==true

cycleOption1=single(str2num(fscanf(MicroCom)));
if cycleOption1==1
    condition1=true;
elseif cycleOption1==0
    condition1=false;
end

cycleOption2=single(str2num(fscanf(MicroCom)));

for x=cycleOption2:-1:1

fprintf(MicroCom,'0');

clf;
clc;
clearvars -except MicroCom n condition1 condition2 status

%UNIVERSE
speed_u=0:1:1000;
angle_u=-10:0.1:10;
pos_u=0:1:10;

%MF FUNCTIONS
SP_L=Trapezoidal(speed_u,0,0,450,500);
SP_OK=Triangular(speed_u,450,550,700);
SP_H=Trapezoidal(speed_u,550,850,1000,1000);

AN_D=Trapezoidal(angle_u,-10,-10,-5,0);
AN_LVL=Triangular(angle_u,-5,0,5);
AN_U=Trapezoidal(angle_u,0,5,10,10);

POS_L=Triangular(pos_u,0,0,4);
POS_LM=Triangular(pos_u,2,4,6);
POS_M=Triangular(pos_u,4,6,8);
POS_HM=Triangular(pos_u,6,8,10);
POS_H=Triangular(pos_u,8,10,10);

InputRaw=fscanf(MicroCom);
input_InputRaw = strsplit(InputRaw);
Points = [str2double(input_InputRaw{1}), str2double(input_InputRaw{2})];
Input_F=Points(1)
Input_G=Points(2)

SPLminAND=min(SP_L(speed_u==Input_F),AN_D(angle_u==Input_G));
    [~,position]=min(abs(POS_L-SPLminAND)); %Low
    min1L=POS_L(position);

SPLminANLVL=min(SP_L(speed_u==Input_F),AN_LVL(angle_u==Input_G));
    [~,position]=min(abs(POS_L-SPLminANLVL)); %Low
    min2L=POS_L(position);

SPLminANU=min(SP_L(speed_u==Input_F),AN_U(angle_u==Input_G));
    [~,position]=min(abs(POS_L-SPLminANU)); %Low
    min3L=POS_L(position);

SPOKminAND=min(SP_OK(speed_u==Input_F),AN_D(angle_u==Input_G));
    [~,position]=min(abs(POS_LM-SPOKminAND)); %Low-Medium
    min1LM=POS_LM(position);

SPOKminANLVL=min(SP_OK(speed_u==Input_F),AN_LVL(angle_u==Input_G));
    [~,position]=min(abs(POS_M-SPOKminANLVL)); %Medium
    min1M=POS_M(position);

SPOKminANU=min(SP_OK(speed_u==Input_F),AN_U(angle_u==Input_G));
    [~,position]=min(abs(POS_LM-SPOKminANU)); %Low-Medium
    min2LM=POS_LM(position);

SPHminAND=min(SP_H(speed_u==Input_F),AN_D(angle_u==Input_G));
    [~,position]=min(abs(POS_H-SPHminAND)); %High
    min1H=POS_H(position);

SPHminANLVL=min(SP_H(speed_u==Input_F),AN_LVL(angle_u==Input_G));
    [~,position]=min(abs(POS_HM-SPHminANLVL)); %High-Medium
    min1HM=POS_HM(position);

SPHminANU=min(SP_H(speed_u==Input_F),AN_U(angle_u==Input_G));
    [~,position]=min(abs(POS_H-SPHminANU)); %High
    min2H=POS_H(position);

%MAXIMUM OUTPUT VALUES
maxL=max([min1L,min2L,min3L]);
maxLM=max([min1LM,min2LM]);
maxM=max(min1M);
maxHM=max(min1HM);
maxH=max([min1H,min2H]);

%SPEED OUTPUT
cutlineSPEED1=linspace(maxL,maxL,length(pos_u));
cutlineSPEED2=linspace(maxLM,maxLM,length(pos_u));
cutlineSPEED3=linspace(maxM,maxM,length(pos_u));
cutlineSPEED4=linspace(maxHM,maxHM,length(pos_u));
cutlineSPEED5=linspace(maxH,maxH,length(pos_u));

minSPEED1cut=min(cutlineSPEED1,POS_L);
minSPEED2cut=min(cutlineSPEED2,POS_LM);
minSPEED3cut=min(cutlineSPEED3,POS_M);
minSPEED4cut=min(cutlineSPEED4,POS_HM);
minSPEED5cut=min(cutlineSPEED5,POS_H);

finalcutlineSPEED=max(minSPEED1cut,max(minSPEED2cut,max(minSPEED3cut,max(minSPEED4cut,minSPEED5cut))));
centroide1=defuzz(pos_u,finalcutlineSPEED,'centroid')

Phase1=centroide1;
Phase2=num2str(Phase1);
Phase3=num2cell(Phase2);

fprintf(MicroCom,'0');

for x=1:length(Phase3)
c=char(Phase3(x));
write(MicroCom,c,"char");
end

cycleOption2=single(str2num(fscanf(MicroCom)));
if cycleOption2==1
    condition2=true;
    fprintf(MicroCom,'0',"char");
elseif cycleOption2==0
    condition2=false;
    fprintf(MicroCom,'0',"char");
end

end

end
fclose(MicroCom);
delete(MicroCom);
clear MicroCom;