PSO-Optimized Fuzzy Logic Controller for a Single Wheel Robot

被引：0

作者：

Al-Mamun, Abdullah ^{[1
]}

Zhu, Zhen ^{[1
]}

机构：

[1] Natl Univ Singapore, Singapore 117576, Singapore

来源：

TRENDS IN INTELLIGENT ROBOTICS | 2010年 / 103卷

关键词：

Single wheel robot; Fuzzy logic controller; Particle Swarm Optimization (PSO);

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A fuzzy logic controller (FLC) for steering control of a single wheel robot with fuzzy membership functions optimized using particle swarm optimization (PSO) is presented in this paper. The single wheel robot is statically unstable and has nonlinear dynamics when it is in motion. Design of a linear controller is anything but straightforward. At an earlier stage of development, the wheel was controlled manually using remote control console. That experience is transformed into a linguistic based control, e.g., FLC. However, the issue of selecting various functions and parameters for FLC still remains to be resolved. In this work, Particle Swarm Optimization (PSO) is used to optimize the membership functions of the FLC.

引用

页码：330 / 337

页数：8

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