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Conference Paper: Genetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulators

TitleGenetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulators
Authors
Issue Date1996
PublisherIEEE, Computer Society. The Journal's web site is located at http://www.ieee.org
Citation
IEEE International Symposium on Intelligent Control Proceedings, Dearborn, Michigan, 15-18 September 1996, p. 325-329 How to Cite?
AbstractIn this paper, genetic algorithms are used to design computed-torque/fuzzy-logic controllers for robotic manipulators. It is shown that this use of genetic algorithms provides a very effective means of determining the optimal set of fuzzy rules as well as the optimal domains of the associated fuzzy sets of the fuzzy-logic components of such controllers. It is demonstrated that these computed-torque/fuzzy-logic controllers are more robust than computed-torque/fuzzy-logic controllers in which only the domains of the fuzzy sets are genetically determined.
Persistent Identifierhttp://hdl.handle.net/10722/46572

 

DC FieldValueLanguage
dc.contributor.authorPorter, Ben_HK
dc.contributor.authorZadeh, NNen_HK
dc.date.accessioned2007-10-30T06:53:12Z-
dc.date.available2007-10-30T06:53:12Z-
dc.date.issued1996en_HK
dc.identifier.citationIEEE International Symposium on Intelligent Control Proceedings, Dearborn, Michigan, 15-18 September 1996, p. 325-329en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46572-
dc.description.abstractIn this paper, genetic algorithms are used to design computed-torque/fuzzy-logic controllers for robotic manipulators. It is shown that this use of genetic algorithms provides a very effective means of determining the optimal set of fuzzy rules as well as the optimal domains of the associated fuzzy sets of the fuzzy-logic components of such controllers. It is demonstrated that these computed-torque/fuzzy-logic controllers are more robust than computed-torque/fuzzy-logic controllers in which only the domains of the fuzzy sets are genetically determined.en_HK
dc.format.extent367642 bytes-
dc.format.extent4653 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE, Computer Society. The Journal's web site is located at http://www.ieee.orgen_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©1996 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.titleGenetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulatorsen_HK
dc.typeConference_Paperen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ISIC.1996.556222en_HK
dc.identifier.hkuros28394-

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