WCCI 2012 IEEE World Congress on Computational Intelligence , 2012-06-10

Title : ( A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot )

Authors: Mohsen JalaeianFarimani , Mohammad Reza Akbarzadeh Totonchi , Alireza Akbarzadeh Tootoonchi , Mostafa Ghaemi ,

Citation: BibTeX | EndNote

To date, various paradigms of soft-Computing have been used to solve many modern problems. Among them, a self organizing combination of fuzzy systems and neural networks can make a powerful decision making system. Here, a Dynamic Growing Fuzzy Neural Controller (DGFNC) is combined with an adaptive strategy and applied to a 3PSP parallel robot position control problem. Specifically, the dynamic growing mechanism is considered in more detail. In contrast to other self-organizing methods, DGFNC adds new rules more conservatively; hence the pruning mechanism is omitted. Instead, the adaptive strategy ‘adapts’ the control system to parameter variation. Furthermore, a sliding mode-based nonlinear controller ensures system stability. The resulting general control strategy aims to achieve faster response with less computation while maintaining overall stability. Finally, the 3PSP is chosen due to its complex dynamics and the utility of such approaches in modern industrial systems. Several simulations support the merits of the proposed DGFNC strategy as applied to the 3PSP robot.

Keywords

, component; Dynamic Growing Fuzzy Neural Controller, Parallel Robot Control, Soft-Computing, Self- Organizing Fuzzy Neural Network,
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@inproceedings{paperid:1031325,
author = {JalaeianFarimani, Mohsen and Akbarzadeh Totonchi, Mohammad Reza and Akbarzadeh Tootoonchi, Alireza and Ghaemi, Mostafa},
title = {A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot},
booktitle = {WCCI 2012 IEEE World Congress on Computational Intelligence},
year = {2012},
location = {Brisbane, AUSTRALIA},
keywords = {component; Dynamic Growing Fuzzy Neural Controller; Parallel Robot Control; Soft-Computing; Self- Organizing Fuzzy Neural Network; Control.},
}

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%0 Conference Proceedings
%T A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot
%A JalaeianFarimani, Mohsen
%A Akbarzadeh Totonchi, Mohammad Reza
%A Akbarzadeh Tootoonchi, Alireza
%A Ghaemi, Mostafa
%J WCCI 2012 IEEE World Congress on Computational Intelligence
%D 2012

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