A defuzzification strategy for a fuzzy logic controller employing prohibitive information in command formulation

A defuzzification strategy is presented that can handle the possibility of conflicting control commands during the defuzzification process while still producing smooth transitions. The strategy, which is the centroid of the largest area, has parameters that can be chosen to make it behave like both the centroid strategy and the mean of the maximum membership strategy. The strategy addresses the problem of prohibitive information in fuzzy control command formulation. This strategy was applied to a mobile robot path execution system and it was shown that this strategy overcomes some of the deficiencies of other strategies. This strategy not only makes the best choice when several are given, but also avoids abrupt transitions in the control command