Adaptive fuzzy controller design for trajectory tracking of a 2 DOF wheeled mobile robot using genetic algorithm

We deal with the design of a WMR's fuzzy controller for trajectory tracking. The fuzzy controller uses a genetic algorithm to optimize membership function and reorganize the term set, and fuzzy rule. A similarity measure is taken to change the term set and rule correction is performed based on...

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Main Authors: Sung-Hoe Kim, Chong-Kug Park, Harashima, F.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Fuzzy control
Fuzzy logic
Fuzzy sets
Fuzzy systems
Genetic algorithms
Mathematical model
Mobile robots
Programmable control
Trajectory
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creator Sung-Hoe Kim
Chong-Kug Park
Harashima, F.
description We deal with the design of a WMR's fuzzy controller for trajectory tracking. The fuzzy controller uses a genetic algorithm to optimize membership function and reorganize the term set, and fuzzy rule. A similarity measure is taken to change the term set and rule correction is performed based on the changed term set. We propose the modified algorithm to take care of fine tuning. The searching region is gradually cut down while the modified GA is performed.
doi_str_mv 10.1109/IROS.1998.724824
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ispartof Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 1998, Vol.3, p.1584-1589 vol.3
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Adaptive control
Fuzzy control
Fuzzy logic
Fuzzy sets
Fuzzy systems
Genetic algorithms
Mathematical model
Mobile robots
Programmable control
Trajectory
title Adaptive fuzzy controller design for trajectory tracking of a 2 DOF wheeled mobile robot using genetic algorithm
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