Abstract
The analytical structure of fuzzy controller is important for better understanding and effective design of the fuzzy control system, especially for explaining why fuzzy control system work well. In this paper, we develop a three-dimensional fuzzy controller with arbitrary triangular input fuzzy sets. Then, the analytical structure of this fuzzy controller is derived rigorously, and some properties of this controller are given. To determine the parameters of the fuzzy controller, a novel proximal policy optimization algorithm with recall pool (RP-PPO) is proposed. A recall pool is designed in proximal policy optimization algorithm to store the best ten sets of parameters to enhance the optimization results. Finally, simulation studies are carried out on two time-delay systems and a nonlinear chemical process with time-varying time delay to validate the applicability and effectiveness of the proposed fuzzy controller.
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