Title :
Tracking Control Based on Fuzzy Strategy for Underwater Manipulator
Author :
Jin, He ; Jie, Wang ; Hua, Wang
Author_Institution :
YunNan Nat. Univ., Kunming
Abstract :
The good control performance can not be gotten for a kind of complicated control system only using simple fuzzy controller. A integrated intelligent expert fuzzy controller is composed by introducing expert knowledge in to the fuzzy controller. Then, fuzzy membership function can be optimized automatically according to the genetic algorithm (GA) encoded by matrix individual for direction to the parameters of membership function. The control performance is largely improved. It enhanced adaptability for environment and parameter movement by introducing expert knowledge into the system.
Keywords :
fuzzy control; genetic algorithms; intelligent control; manipulators; tracking; underwater vehicles; fuzzy membership function; fuzzy strategy; genetic algorithm; integrated intelligent expert fuzzy controller; tracking control; underwater manipulator; Automatic control; Control systems; Expert systems; Fuzzy control; Genetic algorithms; Helium; Manipulators; Mercury (metals); Physics; Underwater tracking; Expert System; Fuzzy Control; Genetic Algorithm; Underwater Manipulator;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4346958
