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Design of the Fuzzy Control Systems Based on Genetic Algorithm for Intelligent Robots

Author

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  • Gyula Mester

    (University of Szeged - Faculty of Engineering)

Abstract

This paper gives the structure optimization of fuzzy control systems based on genetic algorithm in the MATLAB environment. The genetic algorithm is a powerful tool for structure optimization of the fuzzy controllers, therefore, in this paper, integration and synthesis of fuzzy logic and genetic algorithm has been proposed. The genetic algorithms are applied for fuzzy rules set, scaling factors and membership functions optimization. The fuzzy control structure initial consist of the 3 membership functions and 9 rules and after the optimization it is enough for the 4 DOF SCARA Robot control to compensate for structured and unstructured uncertainty. Fuzzy controller with the generalized bell membership functions can provide better dynamic performance of the robot then with the triangular membership functions. The proposed joint-space controller is computationally simple and had adaptability to a sudden change in the dynamics of the robot. Results of the computer simulation applied to the 4 DOF SCARA Robot show the validity of the proposed method.

Suggested Citation

  • Gyula Mester, 2014. "Design of the Fuzzy Control Systems Based on Genetic Algorithm for Intelligent Robots," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 12(3), pages 245-254.
    • Handle: RePEc:zna:indecs:v:12:y:2014:i:3:p:245-254
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    Cited by:

    1. Janos Simon, 2015. "Concepts of the Internet of Things from the Aspect of the Autonomous Mobile Robots," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 13(1), pages 34-40.
    2. Janos Simon, 2017. "Autonomous wheeled mobile robot control," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 15(3), pages 222-227.

    More about this item

    Keywords

    genetic algorithm; MATLAB environment; structure optimization; fuzzy controller; 4 DOF SCARA robot;
    All these keywords.

    JEL classification:

    • Z19 - Other Special Topics - - Cultural Economics - - - Other

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