Automatic design and tuning of a fuzzy system for controlling the Acrobot using genetic algorithms, DSFS, and meta-rule techniques

Abstract

In this paper, we present practical methods for automatic design and tuning of fuzzy systems and apply them to a complex control problem: swing-up control of a two-link robot called the Acrobot. We use genetic algorithms, dynamic switching fuzzy systems (DSFS), and meta-rule techniques to obtain a high performance meta-rule enhanced TSK controller for the Acrobot. Our paper demonstrates how we integrate these techniques and how they allow us to reduce design time and system complexity.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>