Optimum synthesis of fuzzy logic controller for trajectory tracking by differential evolution

Differential Evolution (DE) and Genetic Algorithms (GA) are population based search algorithms that come under the category of evolutionary optimization techniques. In the present study, these evolutionary methods have been utilized to conduct the optimum design of a fuzzy controller for mobile robo...

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Bibliographic Details
Published inScientia Iranica. Transaction B, Mechanical engineering Vol. 18; no. 2; p. 261
Main Authors Pishkenari, H Nejat, Mahboobi, S H, Alasty, A
Format Journal Article
LanguageEnglish
Published Tehran Sharif University of Technology 01.04.2011
Subjects
Controllers
Design engineering
Fuzzy sets
Mechanical engineering
Neural networks
Optimization algorithms
Robots
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Summary:Differential Evolution (DE) and Genetic Algorithms (GA) are population based search algorithms that come under the category of evolutionary optimization techniques. In the present study, these evolutionary methods have been utilized to conduct the optimum design of a fuzzy controller for mobile robot trajectory tracking. Comparison between their performances has also been conducted. In this paper, we will present a fuzzy controller to the problem of mobile robot path tracking for a CEDRA rescue robot. After designing the fuzzy tracking controller, the membership functions will be optimized by evolutionary algorithms in order to obtain more acceptable results. [PUBLICATION ABSTRACT]