로봇의 실수형 유전알고리듬을 이용한 Takagi and Sugeno형 퍼지제어기 설계

Takagi and Sugeno type Fuzzy Controller Design Using Decimal-type Genetic A lgorithm for Robot

This paper proposes to design fuzzy optimal controller of robot manipulator using decim al-type genetic alg orithm . In this paper fuzzy inference apply Takag i and Sugenome thodin fuzzy controller and decide param eters in the consequences proposes method for using Decimal- ty p e G enetic algorithm . In simulation it com pares cases that Robot man ipulator is connected one fuzzy controller and three fu zzy controller. In the consequence it com pares cases that in clu de B ias and not include Bias. So the simulation proves effectiveness of this fuzzy optimal controller of robot manipulator using decimal-type genetic algorithm .