A particle swarm optimized fuzzy neural network control for acrobot

CASIA OpenIR > 09年以前成果

	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
发表期刊	ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS
	2006
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	被引频次：1[WOS] [WOS记录] [WOS相关记录]
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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