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A particle swarm optimized fuzzy neural network control for acrobot
Zhao, Dong-bin; Yi, Jian-qiang; Wang, J; Yi, Z; Zurada, JM; Lu, BL; Yin, H
2006
发表期刊ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS
卷号3972期号:?页码:1160-1165
文章类型Article
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.
关键词Fuzzy Neural Network Control (Tsfnnc) Acrobot
WOS标题词Science & Technology ; Technology
收录类别SCI ; ISTP
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Theory & Methods
WOS记录号WOS:000239483000170
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9364
专题09年以前成果
通讯作者Zhao, Dong-bin
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.
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