Self-organizing Fuzzy Controller Based on Fuzzy Neural Network

摘要

Fuzzy logic has been successfully used for nonlinear control systems. However, when the plant is complex or expert knowledge is not available, it is difficult to construct the rule bases of fuzzy systems. In this paper, we propose a new method of how to construct automatically the rule bases using fuzzy neural network. Whereas the conventional methods need the training data representing input-output relationship, the proposed algorithm utilizes the gradient of the performance index for the construction of fuzzy rules and the tuning of membership functions. Experimental results with the inverted pendulum show the superiority of the proposed method in comparison to the conventional fuzzy controller.