Neuro-fuzzy motion controller design using improved simple genetic algorithm

被引：0

作者：

Vlad, OP ^{[1
]}

Fukuda, T ^{[1
]}

Vachkov, G ^{[1
]}

机构：

[1] Nagoya Univ, Dept Micro Syst Engn, Nagoya, Aichi, Japan

来源：

2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS | 2003年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a method for the design of a neuro-fuzzy motion controller is proposed. The controller is aimed to ensure the continuous locomotion of a brachiation (double pendulum like) mobile robot (BMR). The design method consists of two stages. In the first stage the structure of a Takagi-Sugeno (TS) type of fuzzy controller (FC) is established. In the second stage the parameters of a feed-forward type neural network structure that embeds the controller are derived. During the first stage, the parameters of both the antecedent and the consequent part of the fuzzy rules are obtained in the same time, using an Improved Simple Genetic Algorithm. The paper presents experimental results obtained using the simulated evolution of the BMR under the control of the designed controller. The advantages of the proposed method and the possibilities of further improvements are discussed.

引用

页码：1469 / 1474

页数：6

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