A fuzzy-Gaussian neural network and its application to mobile robot control

被引：82
作者：
Watanabe, K
Tang, J
Nakamura, M
Koga, S
Fukuda, T
机构：
[1] SAGA UNIV, DEPT ELECT ENGN, SAGA 840, JAPAN
[2] KITAKYUSHU NATL COLL TECHNOL, KITAKYUSHU, FUKUOKA 803, JAPAN
[3] NAGOYA UNIV, DEPT MECHANOINFORMAT & SYST, CHIKUSA KU, NAGOYA, AICHI 46401, JAPAN
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 1996年 / 4卷 / 02期
关键词：
D O I：
10.1109/87.486346
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A fuzzy-Gaussian neural network (FGNN) controller is described by applying a Gaussian function as an activation function, A specialized learning architecture is used so that membership function can be tuned without using expert's manipulated data, As an example of the application, a tracking control problem for the speed and azimuth of a mobile robot driven by two independent wheels is solved by using the FGNN controller, To simplify the implementation of the FGNN controller for the two-input/two-output controlled system, a learning controller is utilized consisting of two FGNN's based on independent reasoning and a connection net with fixed weights. The effectiveness of the proposed method is illustrated by performing the simulation of a circular or square trajectory tracking control.
引用
收藏
页码：193 / 199
页数：7
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