基于遗传算法的机器人分层模糊控制

基于遗传算法的机器人分层模糊控制 Genetic-algorithm-based Hierarchical Fuzzy Controlof Robo

摘要: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。
关键词:分层模糊控制遗传算法机器人时变系统强藕合

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场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