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Conference Paper: Genetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulators
| Title | Genetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulators |
|---|---|
| Authors | |
| Issue Date | 1996 |
| Publisher | IEEE, 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? |
| Abstract | In 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 Identifier | http://hdl.handle.net/10722/46572 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Porter, B | en_HK |
| dc.contributor.author | Zadeh, NN | en_HK |
| dc.date.accessioned | 2007-10-30T06:53:12Z | - |
| dc.date.available | 2007-10-30T06:53:12Z | - |
| dc.date.issued | 1996 | en_HK |
| dc.identifier.citation | IEEE International Symposium on Intelligent Control Proceedings, Dearborn, Michigan, 15-18 September 1996, p. 325-329 | en_HK |
| dc.identifier.uri | http://hdl.handle.net/10722/46572 | - |
| dc.description.abstract | In 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.extent | 367642 bytes | - |
| dc.format.extent | 4653 bytes | - |
| dc.format.mimetype | application/pdf | - |
| dc.format.mimetype | text/plain | - |
| dc.language | eng | en_HK |
| dc.publisher | IEEE, Computer Society. The Journal's web site is located at http://www.ieee.org | en_HK |
| 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. | - |
| dc.title | Genetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulators | en_HK |
| dc.type | Conference_Paper | en_HK |
| dc.description.nature | published_or_final_version | en_HK |
| dc.identifier.doi | 10.1109/ISIC.1996.556222 | en_HK |
| dc.identifier.hkuros | 28394 | - |