Tracking Control Based on Fuzzy Strategy for Underwater Manipulator

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.