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

Hossein Nejat Pishkenari | Zendy; Seyed Hanif Mahboobi | Zendy; Aria Alasty | Zendy

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

Author(s) -

Hossein Nejat Pishkenari,

Seyed Hanif Mahboobi,

Aria Alasty

Publication year - 2011

Publication title -

scientia iranica

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.299

H-Index - 51

eISSN - 2345-3605

pISSN - 1026-3098

DOI - 10.1016/j.scient.2011.03.021

Subject(s) - fuzzy logic , trajectory , mobile robot , differential evolution , control theory (sociology) , controller (irrigation) , evolutionary algorithm , computer science , tracking (education) , fuzzy control system , path (computing) , population , genetic algorithm , control engineering , robot , artificial intelligence , mathematical optimization , mathematics , engineering , control (management) , biology , psychology , pedagogy , physics , demography , astronomy , sociology , agronomy , programming language

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

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