**Section 3**

**Application to Mechanical and Industrial Engineering Problems** 

82 Fuzzy Inference System – Theory and Applications

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**5** 

 *Egypt* 

**Control of Efficient Intelligent Robotic** 

**Gripper Using Fuzzy Inference System** 

*1Power Electronics and Energy Conversion Department* 

*Electronics Research Institute, Cairo 2Electric Power and Machines Department Faculty of Engineering, Cairo University, Cairo* 

A.M. Zaki1, O.A. Mahgoub2, A.M. El-Shafei2 and A.M. Soliman1

In the last few years the applications of artificial intelligence techniques have been used to convert human experience into a form understandable by computers. Advanced control based on artificial intelligence techniques is called intelligent control. Intelligent systems are usually described by analogies with biological systems by, for example, looking at how human beings perform control tasks, recognize patterns, or make decisions. Fuzzy logic is a way to make machines more intelligent enabling them to reason in a fuzzy manner like humans. Fuzzy logic, proposed by Lotfy Zadeh in 1965, emerged as a tool to deal with

Controllers that combine intelligent and conventional techniques are commonly used in the intelligent control of complex dynamic systems. Therefore, embedded fuzzy controllers

Traditional control approach requires modeling of the physical reality. Three methods may

1. By experimenting and determining how the process reacts to various inputs, one can

2. Control engineering requires an idealized mathematical model of the controlled process, usually in the form of differential or difference equations. But problems arise in developing a meaningful and realistic mathematical description of an industrial process: i- Poorly understood phenomena, ii- Inaccurate values of various parameters,

3. Heuristic Methods: The heuristic method consists of modeling and understanding in accordance with previous experience, rules-of-thumb and often-used strategies. A heuristic rule is a logical implication of the form: If <condition> Then <consequence>, or in a typical control situation: If <condition> Then <action>. Rules associate conclusions with conditions. Therefore, the heuristic method is actually similar to the experimental method of constructing a table of inputs and corresponding output values where instead of having crisp numeric values of input and output variables, one use

fuzzy values: IF input\_voltage = Large THEN output\_voltage = Medium.

uncertain, imprecise, or qualitative decision-making problems (Zadeh, 1965).

automate what has traditionally been a human control activity.

characterize an input-output table.

iii-Model complexity.

be used in the description of a system (Passino & Yurkovich, 1998) :

**1. Introduction** 
