基于遗传算法的机器人分层模糊控制

Genetic-algorithm-based Hierarchical Fuzzy Control of Robot

为解决模糊多变量控制中规则数随系统变量数呈指数增长的问题,针对机器人轨迹跟踪的特点,提出了一种分层模糊控制器的设计方法。该方法不仅减少了模糊规则数,而且使模糊控制逻辑变得清晰明了,其中控制参数采用遗传算法整定。实验结果证实:该方法控制效果好、系统跟踪速度快。

In order to solve the problem that the number of rules in fuzzy multiple variable control increase exponentially in accordance with the number of system variables involved, the design method of a hierarchical fuzzy controller is proposed based on the property of robotic tracking. It greatly decreases the number of fuzzy rules, and makes fuzzy control logic clarified; the control parameters are tuned by genetic algorithm. The experimental result verifies the effectiveness of the method and the high tracking speed of the system.