Neuro-fuzzy optimal control of backing up a trailer truck

Abstract

A neuro-fuzzy optimal control is proposed, in which a cost function of integral form is minimized by the steepest descent method. An optimal control system is developed for backing up a trailer truck to a loading dock in a parking lot. The trajectories of state variables of a trailer and truck are represented by a fuzzy model consisting of Gaussian membership functions. The network of Gaussian functions is trained to minimize the cost function of state and manipulated variables.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>