Automatic design and tuning of a fuzzy system for controlling the Acrobot using genetic algorithms, DSFS, and meta-rule techniques

Author

Lee, Michael A. ; Smith, Michael H.

Author_Institution

Comput. Sci. Div., California Univ., Berkeley, CA, USA

fYear

1994

fDate

18-21 Dec 1994

Firstpage

416

Lastpage

420

Abstract

In this paper, we present practical methods for automatic design and tuning of fuzzy systems and apply them to a complex control problem: swing-up control of a two-link robot called the Acrobot. We use genetic algorithms, dynamic switching fuzzy systems (DSFS), and meta-rule techniques to obtain a high performance meta-rule enhanced TSK controller for the Acrobot. Our paper demonstrates how we integrate these techniques and how they allow us to reduce design time and system complexity

Keywords

fuzzy control; fuzzy systems; genetic algorithms; robot dynamics; tuning; Acrobot; automatic design; design time; dynamic switching fuzzy systems; fuzzy system; genetic algorithms; meta-rule techniques; swing-up control; system complexity; tuning; Algorithm design and analysis; Automatic control; Control systems; Elbow; Equations; Fuzzy systems; Genetic algorithms; Leg; Robot kinematics; Shoulder;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Information Processing Society Biannual Conference, 1994. Industrial Fuzzy Control and Intelligent Systems Conference, and the NASA Joint Technology Workshop on Neural Networks and Fuzzy Logic,

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-2125-1

Type

conf

DOI

10.1109/IJCF.1994.375076

Filename

375076