基于遺傳算法的機器人分層模糊控制 Genetic-algorithm-based Hierarchical Fuzzy Controlof Robo

摘要:為解決模糊多變量控制中規則數隨系統變量數呈指數增長的問題，針對機器人軌跡跟蹤的特點，提出了一種分層模糊控制器的設計方法。該方法不僅減少了模糊規則數，而且使模糊控制邏輯變得清晰明了，其中控制參數采用遺傳算法整定。實驗結果證
實:該方法控制效果好、系統跟蹤速度快。
關鍵詞:分層模糊控制遺傳算法機器人時變系統強藕合

Abstract: In order to solve the problem that the number of rules in fuzzy multiple variable control increase exponentialy in accordance with the number of system variables involved, the design method of a hierarchical fuzzy controler is proposed based on the property of robotic tracking.It greatly decreases the number of fuzzy riles, and makes fuzzy control logic clarified; the control parameters are tuned場genetic algorithm.The experimental result verities the efectiveness of the method and the high tracking speed of the system.
Keywords:H ierarchicalfu zzyc ontrol Genetica lgorithm Robot Timev ariables ystem Strongc oupling