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A particle swarm optimized fuzzy neural network control for acrobot

文献类型：期刊论文

作者Zhao, Dong-bin; Yi, Jian-qiang; Wang, J; Yi, Z; Zurada, JM; Lu, BL; Yin, H
刊名ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS
出版日期2006
卷号3972期号:?页码:1160-1165
关键词fuzzy neural network control (TSFNNC) acrobot
通讯作者Zhao, Dong-bin
英文摘要This paper addresses the problem of controlling an acrobot, an underactuated robotic systems, using fuzzy neural network approach. A five-layer Takagi-Sugeno fuzzy neural network control (TSFNNC) is proposed to swing up the acrobot from the low stable equilibrium to approach and balance around its top unstable equilibrium position. By analyzing the system dynamics, total energy and potential energy of the system are introduced in the second layer, with the system states as the inputs to the first layer. Fuzzy membership functions and rules are depicted in the third and fourth layers respectively. The fifth layer works as the final output. A modified particle swarm optimizer (PSO) is adopted to train the consequents in the fourth layer. Simulation results indicate that the integrated TSFNNC approach can control the acrobot system from upswing to balance process effectively. This approach provides an easy and feasible solution for similar control problems.
WOS标题词Science & Technology ; Technology
类目[WOS]Computer Science, Artificial Intelligence ; Computer Science, Theory & Methods
研究领域[WOS]Computer Science
收录类别SCI ; ISTP
语种英语
WOS记录号WOS:000239483000170
源URL[http://ir.ia.ac.cn/handle/173211/9364]  
专题自动化研究所_09年以前成果
作者单位Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100080, Peoples R China
推荐引用方式
GB/T 7714		 Zhao, Dong-bin,Yi, Jian-qiang,Wang, J,et al. A particle swarm optimized fuzzy neural network control for acrobot[J]. ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS,2006,3972(?):1160-1165.
APA Zhao, Dong-bin.,Yi, Jian-qiang.,Wang, J.,Yi, Z.,Zurada, JM.,...&Yin, H.(2006).A particle swarm optimized fuzzy neural network control for acrobot.ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS,3972(?),1160-1165.
MLA Zhao, Dong-bin,et al."A particle swarm optimized fuzzy neural network control for acrobot".ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS 3972.?(2006):1160-1165.

入库方式： OAI收割

来源：自动化研究所

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