Title :
A Novel Neuro-Fuzzy Controller Based On Both Trigonometric Series and Fuzzy Clusters
Author :
Ponce-Cruz, P. ; Azcue, E. ; Silva, Jaime ; Silva, Jaime
Author_Institution :
Inst. Tecnologico y de Estudios Superiores de Monterrey, Monterrey
Abstract :
In this work an implementation of a novel neuro-fuzzy controller proposed has been designed and implemented using an artificial six-legged arthropod (hexapod). The core of the controller is based on both artificial neural networks based on trigonometric series and fuzzy clusters. A new scheme was optimised and the performance of the hexapod was adequate. The implementation was done by a Motorola microcontroller. Programming the controller law into a Motorola microcontroller gave flexibility to the platform proposed. Simulation and experimental results are included to validate the theory presented in this paper.
Keywords :
control engineering computing; control system synthesis; fuzzy control; fuzzy neural nets; legged locomotion; microcontrollers; neurocontrollers; Motorola microcontroller; artificial neural networks; artificial six-legged arthropod; controller law programming; fuzzy clusters; hexapod; neuro-fuzzy controller design; trigonometric series; Automatic control; Control systems; Electrical equipment industry; Fuzzy control; Fuzzy logic; Microcontrollers; Neural networks; Prototypes; System testing; Three-term control; Fuzzy Logic; Hexapod and Neural networks; Neuro-Fuzzy controller;
Conference_Titel :
Industrial Technology, 2006. ICIT 2006. IEEE International Conference on
Conference_Location :
Mumbai
Print_ISBN :
1-4244-0726-5
Electronic_ISBN :
1-4244-0726-5
DOI :
10.1109/ICIT.2006.372231
