2025-02-172025-02-172020-08-26Gersnoviez, A., Brox Jiménez, M. y Baturone Castillo, M.I. (2020). Hierarchical fuzzy controllers for explicit MPC control laws: Adaptive cruise control example. En IEEE International Conference on Fuzzy Systems, FUZZ 2020 (9177693-), Glasgow, United Kingdom: Institute of Electrical and Electronics Engineers.978-1-7281-6932-31558-47391544-5615https://hdl.handle.net/11441/168845This paper presents a methodology to approximate explicit Model Predictive Control (MPC) laws by hierarchical fuzzy systems, particularly piecewise-affine hierarchical (PWAH) systems. These hierarchical controllers provide high operation speed with low cost in computational and memory resources because they are formed only by single-input and single-output (SISO) fuzzy modules connected in cascade. The methodology employs the CAD tools of Xfuzzy environment to describe, adjust, verify, and implement the controllers in a Field Programmable Gate Array (FPGA). The methodology is illustrated with the design and FPGA implementation of a hierarchical controller for a car adaptive cruise control (ACC) system. The resulting controller is better in terms of speed and FPGA resource consumption than other solutions reported in the literature.application/pdf8 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Fuzzy CAD toolsFuzzy controlHierarchical fuzzy systemsinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccess10.1109/FUZZ48607.2020.9177693