Loading...

Optimum synthesis of fuzzy logic controller for trajectory tracking by differential evolution

Nejat Pishkenari, H ; Sharif University of Technology

951 Viewed
  1. Type of Document: Article
  2. DOI: 10.1016/j.scient.2011.03.021
  3. Abstract:
  4. Differential Evolution (DE) and Genetic Algorithms (GA) are population based search algorithms that come under the category of evolutionary optimization techniques. In the present study, these evolutionary methods have been utilized to conduct the optimum design of a fuzzy controller for mobile robot trajectory tracking. Comparison between their performances has also been conducted. In this paper, we will present a fuzzy controller to the problem of mobile robot path tracking for a CEDRA rescue robot. After designing the fuzzy tracking controller, the membership functions will be optimized by evolutionary algorithms in order to obtain more acceptable results
  5. Keywords:
  6. CEDRA rescue robot ; Search algorithms ; Differential evolution ; Evolutionary method ; Evolutionary optimizations ; Fuzzy controllers ; Fuzzy logic controllers ; Fuzzy membership function ; Fuzzy tracking ; Optimum designs ; Optimum synthesis ; Robot path ; Robot trajectory ; Trajectory tracking ; Biology ; Controllers ; Fuzzy logic ; Machine design ; Membership functions ; Mobile robots ; Optimization ; Fuzzy mathematics ; Genetic algorithm ; Trajectory
  7. Source: Scientia Iranica ; Vol. 18, Issue 2 B , 2011 , pp. 261-267 ; ISSN: 10263098
  8. URL: http://www.sciencedirect.com/science/article/pii/S1026309811000228