| Title |
A Design of GA-based Fuzzy Controller and Truck Backer-Upper Control |
| Authors |
곽근창(Kwak, Keun-Chang) ; 김주식(Kim, Ju-Sik) ; 정수현(Jeong, Su-Hyun) |
| Keywords |
GA ; FCM ; ANFIS ; fuzzy controller ; truck backer-upper control |
| Abstract |
In this paper, we construct a hybrid intelligent controller based on a fusion scheme of GA(Genetic Algorithm) and FCM(Fuzzy C-Means) clustering-based ANFIS(Adaptive Neuro-Fuzzy Inference System). In the structure identification, a set of fuzzy rules are generated for a given criterion by FCM clustering algorithm. In the parameter identification, premise parameters are optimally searched by adaptive GA. On the other hand, consequent parameters are estimated by RLSE(Recursive Least Square Estimate) to reduce the search space. Finally, we applied the proposed method to the truck backer-upper control and obtained a better performance than previous works. |