Abstract
Neural networks (NN), genetic algorithms (GA), and
genetic programs (GP) are often augmented with fuzzy
logic-based schemes to enhance artificial intelligence
of a given system. Such hybrid combinations are
expected to exhibit added intelligence, adaptation, and
learning ability. In the paper, implementation of three
hybrid fuzzy controllers are discussed and verified by
experimental results. These hybrid controllers consist
of a hierarchical NN-fuzzy controller applied to a
direct drive motor, a GA-fuzzy hierarchical controller
applied to a flexible robot link, and a GP-fuzzy
behavior-based controller applied to a mobile robot
navigation task. It is experimentally shown that all
three architectures are capable of significantly
improving the system response.
- ability,
- adaptation,
- added
- algorithm-fuzzy
- algorithms,
- behavior-based
- brushless
- computing
- control,
- controller,
- controllers,
- dc
- direct
- drive
- flexible
- fuzzy
- genetic
- hierarchical
- hybrid
- intelligence,
- learning
- link,
- logic-based
- machine
- manipulators,
- mobile
- motor,
- motors,
- navigation
- networks,
- neural
- neurocontrollers,
- paradigms,
- path
- planning,
- programming,
- programming-fuzzy
- programs,
- robot
- robots,
- schemes,
- soft
- systems,
- task
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