Hybrid Fuzzy Control Schemes for Robotic Systems
نویسنده
چکیده
Three hybrid fuzzy control schemes for robotics applications are described. The rst scheme concentrates on a control architecture which incorporates fuzzy logic theory into the framework of behavior control for mobile robot navigation. The second scheme develops a two-level hierarchical fuzzy control structure for exible manipulators. It incorporates Genetic Algorithms (GA) in a learning scheme to adapt to various environmental conditions. The third scheme concentrates on a methodology that uses a Neural Network (NN) to adapt a fuzzy logic controller (FLC) in manipulator trajectory following tasks.
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