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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
Source PublicationADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS
2006
Volume3972Issue:?Pages:1160-1165
SubtypeArticle
AbstractThis 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.
KeywordFuzzy Neural Network Control (Tsfnnc) Acrobot
WOS HeadingsScience & Technology ; Technology
Indexed BySCI ; ISTP
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Theory & Methods
WOS IDWOS:000239483000170
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9364
Collection09年以前成果
Corresponding AuthorZhao, Dong-bin
AffiliationChinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100080, Peoples R China
Recommended Citation
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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