Browse > Article
http://dx.doi.org/10.5391/IJFIS.2004.4.3.341

Optimal Design of a 2-Layer Fuzzy Controller Using the Schema Co-Evolutionary Algorithm  

Byun, Kwang-Sub (School of Electrical and Electronic Engineering, Chung-Ang University)
Sim, Kwee-Bo (School of Electrical and Electronic Engineering, Chung-Ang University)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.4, no.3, 2004 , pp. 341-346 More about this Journal
Abstract
Nowadays, versatile robots are developed around the world. Novel algorithms are needed for controlling such robots. A 2-Layer fuzzy controller can deal with many inputs as well as many outputs, and its overall structure is much simpler than that of a general fuzzy controller. The main problem encountered in fuzzy control is the design of the fuzzy controller. In this paper, the fuzzy controller is designed by the schema co-evolutionary algorithm. This algorithm can quickly and easily find a global solution. Therefore, the schema co-evolutionary algorithm is used to design a 2-layer fuzzy controller in this study. We apply it to a mobile robot and verify the efficacy of the 2-layer fuzzy controller and the schema co-evolutionary algorithm through the experiments.
Keywords
Fuzzy control; Genetic algorithms; Robotics; 2-layer fuzzy controller; Schema co-evolutionary algorithm;
Citations & Related Records
연도 인용수 순위
  • Reference
1 F.L. Chung, J.C. Duan, 'On multistage fuzzy neural network modeling,' IEEE Trans, Fuzzy Systems, vol. 8, no. 2, pp. 125-142, 2000   DOI   ScienceOn
2 J.-S. R. Jang, C.-T. Sun, E. Mizutani, Neuro-Fuzzy and Soft Computing, Prentice Hall International, 1997
3 M. Mitchell, An Introduction to Genetic Algorithm, Bradford Book, MIT Press, 1996
4 K.S. Byun, K.S. Heo, C.H. Park, D.W. Lee, K.B. Sim, 'Internet based tele-operation for an autonomous mobile robot with a 2-layer fuzzy controller,' Proc. International Conference Mechatronics and Information Technology (ICMIT 2003), pp. 626-631, 2003
5 Z. Michalewicz, Genetic Algorithms + Data Structures Evolution Programs, 3rd ed., Springer-Verlag, 1995
6 K.B. Sim, D.W. Lee, 'Schema co-evolutionary algorithm (SCEA),' IEICE Trans, Information and System, vol. E87D, no. 2, pp. 416-425, 2004
7 M. Sugeno, 'On stability of fuzzy systems expressed by fuzzy rules with singleton consequents,' IEEE Trans. Fuzzy Systems, vol. 7, no. 2, pp. 201-224, 1999   DOI   ScienceOn
8 J.e. Duan, F.L. Chung, 'Multilevel fuzzy relational systems: structure and identification,' Soft Computing 6, Springer-Verlag, pp. 71-86,2002   DOI   ScienceOn
9 L. A. Zadeh, 'Soft computing and fuzzy logic,' IEEE Software, vol. 11, no. 6, pp. 48-56, 1994   DOI   ScienceOn
10 K.Y. Tu, T.T. Lee, W.J. Wang, 'Design of a multi-layer fuzzy logic controller for multi-input multi-output systems,' Fuzzy Sets and Systems, vol. 3, no. 2, pp. 199-214, 2000