基于遺傳算法的機(jī)器人分層模糊控制

基于遺傳算法的機(jī)器人分層模糊控制 Genetic-algorithm-based Hierarchical Fuzzy Controlof Robo

摘要:為解決模糊多變量控制中規(guī)則數(shù)隨系統(tǒng)變量數(shù)呈指數(shù)增長(zhǎng)的問(wèn)題，針對(duì)機(jī)器人軌跡跟蹤的特點(diǎn)，提出了一種分層模糊控制器的設(shè)計(jì)方法。該方法不僅減少了模糊規(guī)則數(shù)，而且使模糊控制邏輯變得清晰明了，其中控制參數(shù)采用遺傳算法整定。實(shí)驗(yàn)結(jié)果證
實(shí):該方法控制效果好、系統(tǒng)跟蹤速度快。
關(guān)鍵詞:分層模糊控制遺傳算法機(jī)器人時(shí)變系統(tǒng)強(qiáng)藕合

Abstract: In order to solve the problem that the number of rules in fuzzy multiple variable control increase exponentialy in accordance with the number of system variables involved, the design method of a hierarchical fuzzy controler is proposed based on the property of robotic tracking.It greatly decreases the number of fuzzy riles, and makes fuzzy control logic clarified; the control parameters are tuned場(chǎng)genetic algorithm.The experimental result verities the efectiveness of the method and the high tracking speed of the system.
Keywords:H ierarchicalfu zzyc ontrol Genetica lgorithm Robot Timev ariables ystem Strongc oupling