IDEAS home Printed from https://ideas.repec.org/a/zna/indecs/v12y2014i3p245-254.html
   My bibliography  Save this article

Design of the Fuzzy Control Systems Based on Genetic Algorithm for Intelligent Robots

Author

Listed:
  • Gyula Mester

    (University of Szeged - Faculty of Engineering)

Abstract

This paper gives the structure optimization of fuzzy control systems based on genetic algorithm in the MATLAB environment. The genetic algorithm is a powerful tool for structure optimization of the fuzzy controllers, therefore, in this paper, integration and synthesis of fuzzy logic and genetic algorithm has been proposed. The genetic algorithms are applied for fuzzy rules set, scaling factors and membership functions optimization. The fuzzy control structure initial consist of the 3 membership functions and 9 rules and after the optimization it is enough for the 4 DOF SCARA Robot control to compensate for structured and unstructured uncertainty. Fuzzy controller with the generalized bell membership functions can provide better dynamic performance of the robot then with the triangular membership functions. The proposed joint-space controller is computationally simple and had adaptability to a sudden change in the dynamics of the robot. Results of the computer simulation applied to the 4 DOF SCARA Robot show the validity of the proposed method.

Suggested Citation

  • Gyula Mester, 2014. "Design of the Fuzzy Control Systems Based on Genetic Algorithm for Intelligent Robots," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 12(3), pages 245-254.
    • Handle: RePEc:zna:indecs:v:12:y:2014:i:3:p:245-254
    as

    Download full text from publisher

    File URL: http://indecs.eu/2014/indecs2014-pp245-254.pdf
    Download Restriction: no
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Janos Simon, 2017. "Autonomous wheeled mobile robot control," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 15(3), pages 222-227.
    2. Janos Simon, 2015. "Concepts of the Internet of Things from the Aspect of the Autonomous Mobile Robots," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 13(1), pages 34-40.

    More about this item

    Keywords

    genetic algorithm; MATLAB environment; structure optimization; fuzzy controller; 4 DOF SCARA robot;
    All these keywords.

    JEL classification:

    • Z19 - Other Special Topics - - Cultural Economics - - - Other

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:zna:indecs:v:12:y:2014:i:3:p:245-254. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Josip Stepanic (email available below). General contact details of provider: .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.