A FAM-based Agent for a Ball and Beam

Author

Drayer, Gregorio ; Strefezza, Miguel

Author_Institution

Univ. Simon Bolivar, Baruta

fYear

2007

fDate

21-23 Aug. 2007

Firstpage

89

Lastpage

94

Abstract

This paper presents a reactive agent built under the Subsumption Architecture, which purpose is to control a Ball and Beam system. The architecture of the agent is implemented making use of a fuzzy associative memory (FAM) and feedback control laws. The FAM is used to address the action selection problem known for this architecture. The FAM defines different fuzzy conditions. These conditions are associated to feedback control laws. The integrated control signal is obtained by defuzzifying the FAM through the weighted average technique. The time-response of the agent is simulated on a model of the Ball and Beam system and validated with an implementation at the laboratory. The results show the behavior of the variables of the system and the dynamic characteristics of the agent. The control signals stay active at every moment and the FAM allows smooth transitions between them, depending on the fuzzy condition of the system.

Keywords

feedback; fuzzy control; large-scale systems; FAM-based agent; action selection problem; ball and beam system; complex dynamic system control; feedback control; fuzzy associative memory; reactive agents; subsumption architecture; weighted average technique; Associative memory; Centralized control; Control systems; Feedback control; Fuzzy control; Fuzzy sets; Fuzzy systems; Intelligent agent; Laboratories; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Soft Computing Applications, 2007. SOFA 2007. 2nd International Workshop on

Conference_Location

Oradea

Print_ISBN

978-1-4244-1608-0

Electronic_ISBN

978-1-4244-1608-0

Type

conf

DOI

10.1109/SOFA.2007.4318311

Filename

4318311