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A particle swarm optimized fuzzy neural network control for acrobot | |
Zhao, Dong-bin![]() ![]() ![]() | |
发表期刊 | ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS
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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 | |
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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
2006 LNCS 3972 - A P(190KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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