Genetic algorithms for automated tuning of fuzzy controllers: a transportation application

Abstract

We describe the design and tuning of a controller for enforcing compliance with a prescribed velocity profile for a rail-based transportation system. This requires following a trajectory, rather than fixed set-points (as in automobiles). We synthesize a fuzzy controller for tracking the velocity profile, while providing a smooth ride and staying within the prescribed speed limits. We use a genetic algorithm to tune the fuzzy controller's performance by adjusting its parameters (the scaling factors and the membership functions) in a sequential order of significance. We show that this approach results in a controller that is superior to the manually designed one, and with only modest computational effort. This makes it possible to customize automated tuning to a variety of different configurations of the route, the terrain, the power configuration, and the cargo.