Title :
Pseudoerror-based self-organizing neuro-fuzzy system
Author :
Li, Chunshien ; Lee, Chun-Yi ; Cheng, Kuo-Hsiang
Author_Institution :
Dept. of Electr. Eng., Chang Gung Univ., Taiwan
Abstract :
The novel concept of pseudoerrors for a self-organizing neuro-fuzzy system (SO-NFS) is proposed for tracking control problem. To demonstrate the proposed approach, an example of motion control of an auto-warehousing crane system is illustrated, which can move back and forth in x,y, and z directions to access and store cargoes. The proposed SO-NFS shows excellent performance in control of the crane system for different loading conditions and varying distances in all directions.
Keywords :
cranes; fuzzy control; fuzzy neural nets; motion control; neurocontrollers; self-adjusting systems; autowarehousing crane system; motion control; pseudoerrors; self-organizing neuro-fuzzy system; Clustering algorithms; Control systems; Cranes; Error correction; Fuzzy neural networks; Motion control; Parameter estimation; Partitioning algorithms; Process control; Trajectory; Clustering; learning; neuro-fuzzy system; parameter identification; pseudoerror; random optimization; self-organization; structure identification;
Journal_Title :
Fuzzy Systems, IEEE Transactions on
DOI :
10.1109/TFUZZ.2004.836086
