AN OPTIMIZATION ALGORITHM OF FUZZY RULES FOR QUADRUPED WALKING ROBOT
WANG Xuemin1, CHENG Junshi1, TIE Jincheng2, CHEN Jiapin1
1. Information Storage Research Center, Shanghai Jiaotong University, Shanghai 200030; 2. Department of Automation, Shanghai Jiaotong University, Shanghai 200030
Abstract：In this paper, an optimization algorithm, which is based on the self-organizing mapping of Kohonen's model, is proposed and applied to solve the problem that the fuzzy control rules of quadruped walking robot and other complex multivariable systems are too many. The fuzzy relation is identified from original fuzzy rules, furthermore, it is clustered by using Kohonen's network in order to optimize the fuzzy rules. The effectiveness of the algorithm is demonstrated by the simulation results.
1 张化光,杨英旭,柴天佑.多变量模糊控制的展望.见:1995中国控制与决策学术年会论文集,沈阳,东北大学出版社,1995:494～498 2 Raju G V S,Zhou J,Kisner R A.Fuzzy Logic Control for Steam Generator Feedwater Control.In:Proc Amer Contr Conf.San Diego,C A,1990:1491～1493 3 He S Z et al.Cont rol of Dynamical Proccesses Using and Online Rule-adaptive Fuzzy Control Systems.Fuzzy Sets and System,1993,54(1):11～22 4 Procyk T J,Mamdani E H.A Linguistic Self-organizin g Process Controller.Automatica,1979,15:15～30 5 王学敏,程君实.四足步行机器人特征辨识算法.见:1996年中国智能自动化学术会议论文集 6 Judith E D.Neural Net work Architecture.New Yor k:Van Nos trand ReinHold,1990:163～191 7 张立明编著.人工神经网络的模型及其应用.上海:复旦大学出版社,1993:137～146 8 郑伟红,马培荪,陈佳品.模糊神经网络在四足步行机器人控制中的应用.上海交通大学学报,1996,30(1):42～47
