Title :
Adaptive fuzzy controller design for trajectory tracking of a 2 DOF wheeled mobile robot using genetic algorithm
Author :
Kim, Sung-Hoe ; Park, Chong-Kug ; Harashima, Fumio
Author_Institution :
Dept. of Electron. Eng., Kyung Hee Univ., Seoul, South Korea
Abstract :
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
Keywords :
adaptive control; control system synthesis; fuzzy control; genetic algorithms; mobile robots; position control; 2 DOF wheeled mobile robot; adaptive fuzzy controller design; fuzzy rule; genetic algorithm; rule correction; similarity measure; trajectory tracking; Adaptive control; Fuzzy control; Fuzzy logic; Fuzzy sets; Fuzzy systems; Genetic algorithms; Mathematical model; Mobile robots; Programmable control; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724824
