International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Hybrid Fuzzy Adaptive Control of LEGO Robots

  • Vaseak, Jan (Department of Computational Intelligence and System Science, Tokyo Institute of Technology) ;
  • Miklos, Marian (Department of Cybernetics and Artificial Intelligence, University of Technology in Ko)
  • Published : 2002.03.01
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Abstract

The main drawback of “classical”fuzzy systems is the inability to design and maintain their database. To overcome this disadvantage many types of extensions adding the adaptivity property to those systems were designed. This paper deals with one of them a new hybrid adaptation structure, called gradient-incremental adaptive fuzzy controller connecting gradient-descent methods with the so-called self-organizing fuzzy logic controller designed by Procyk and Mamdani. The aim is to incorporate the advantages of both Principles. This controller was implemented and tested on the system of LEGO robots. The results and comparison to a ‘classical’(non-adaptive) fuzzy controller designed by a human operator are also shown here.

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References

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