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Optimal Design of a 2-Layer Fuzzy Controller using the Schema Co-Evolutionary Algorithm

Chang-Hyun Park and Kwee-Bo Sim*
International Journal of Control, Automation, and Systems, vol. 3, no. 3, pp.403-410, 2005

Abstract : Nowadays, versatile robots are developed around the world. Novel algorithms are needed for controlling such robots. A 2-Layer fuzzy controller can deal with many inputs as well as many outputs, and its overall structure is much simpler than that of a general fuzzy controller. The main problem encountered in fuzzy control is the design of the fuzzy controller. In this paper, the fuzzy controller is designed by the schema co-evolutionary algorithm. This algorithm can quickly and easily find a global solution. Therefore, the schema co-evolutionary algorithm is used to design a 2-layer fuzzy controller in this study. We apply it to a mobile robot and verify the efficacy of the 2-layer fuzzy controller and the schema co-evolutionary algorithm through the experiments.

Keyword : Fuzzy control, genetic algorithms, robotics, 2-layer fuzzy controller, schema co-evolutionary algorithm.

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