Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Adaptation in natural and artificial systems
Adaptation in natural and artificial systems
Fuzzy genetic algorithm and applications
Fuzzy Sets and Systems
Genetic synthesis of fuzzy logic controllers in turning
Fuzzy Sets and Systems
A genetic-algorithm-based method for tuning fuzzy logic controllers
Fuzzy Sets and Systems
Intelligent Control: Aspects of Fuzzy Logic and Neural Nets
Intelligent Control: Aspects of Fuzzy Logic and Neural Nets
Hybrid Control Scheme for Robust Tracking of Two-Link Flexible Manipulator
Journal of Intelligent and Robotic Systems
Soft computing methods applied to the control of a flexible robot manipulator
Applied Soft Computing
International Journal of Knowledge-based and Intelligent Engineering Systems
Improving efficiency of a genetic algorithm applied to multi-robot tactic operation
IBERAMIA'10 Proceedings of the 12th Ibero-American conference on Advances in artificial intelligence
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Many recent contributions on flexible link and elastic joint robotic arms focus on how to solve path tracking and vibration damping problems in slow and fast mode control, respectively. For slow mode control, the problem has been dealt with previously by soft computing tools in which some parameters are designed manually. As a result, system performances are often tiresome and intractable. This paper introduces a scheme to improve the system performance by applying genetic algorithms (GAs) to tune the membership function parameters of a fuzzy logic controller for the slow mode of a two-flexible-link and two-elastic-joint robotic manipulator. The system with the new controller is simulated and its behaviour is compared with that provided by conventional and expert-designed fuzzy logic controllers.