Title :
Neuro-fuzzy optimal control of backing up a trailer truck
Author :
H. Ichihashi;M. Tokunaga
Author_Institution :
Coll. of Eng., Osaka Prefecture Univ., Japan
Abstract :
A neuro-fuzzy optimal control is proposed, in which a cost function of integral form is minimized by the steepest descent method. An optimal control system is developed for backing up a trailer truck to a loading dock in a parking lot. The trajectories of state variables of a trailer and truck are represented by a fuzzy model consisting of Gaussian membership functions. The network of Gaussian functions is trained to minimize the cost function of state and manipulated variables.
Keywords :
"Optimal control","Cost function","Neural networks","Fuzzy systems","Multi-layer neural network","Error correction","Mathematical model","Input variables","Equations","Educational institutions"
Conference_Titel :
Neural Networks, 1993., IEEE International Conference on
Print_ISBN :
0-7803-0999-5
DOI :
10.1109/ICNN.1993.298574
