A Novel Neuro-Fuzzy Controller Based On Both Trigonometric Series and Fuzzy Clusters

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.