Hybrid fuzzy-control schemes for robotic systems

Author

Tunstel, E. ; Akbarzadeh-T, M.-R. ; Kumbla, K. ; Jamshidi, M.

Author_Institution

Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA

fYear

1995

fDate

27-29 Aug 1995

Firstpage

171

Lastpage

176

Abstract

Three hybrid fuzzy control schemes for robotics applications are described. The first scheme concentrates on a control architecture which incorporates fuzzy logic theory into the framework of behavior control for mobile robot navigation. The second scheme develops a two-level hierarchical fuzzy control structure for flexible manipulators. It incorporates genetic algorithms (GA) in a learning scheme to adapt to various environmental conditions. The third scheme concentrates on a methodology that uses a neural network (NN) to adapt a fuzzy logic controller (FLC) in manipulator trajectory following tasks

Keywords

fuzzy control; fuzzy neural nets; genetic algorithms; hierarchical systems; neurocontrollers; robots; flexible manipulators; genetic algorithms; hybrid fuzzy control schemes; manipulator trajectory following tasks; mobile robot navigation; neural network; robotic systems; two-level hierarchical fuzzy control structure; Control systems; Fuzzy control; Fuzzy logic; Intelligent robots; Manipulators; Mobile robots; Neural networks; Robot control; Robust control; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on

Conference_Location

Monterey, CA

ISSN

2158-9860

Print_ISBN

0-7803-2722-5

Type

conf

DOI

10.1109/ISIC.1995.525055

Filename

525055