NDLI: Self-organization stochastic fuzzy control based on OCPFA and applied on self-balanced robot

Content Provider	IEEE Xplore Digital Library
Author	Jianxian Cai Xiaogang Ruan
Copyright Year	2010
Description	Author affiliation: Department of Pattern Recognition and Artificial Intelligence, Beijing University of Technology, China (Jianxian Cai; Xiaogang Ruan)
Abstract	This paper constructs a stochastic fuzzy controller to realize self-balancing control of two-wheeled robot. The rule of fuzzy controller is stochastic, which is automatically generated by an OCPFA learning system and optimized online. The OCPFA learning system is in fact a Probabilistic Finite Automata (PFA) which based on Skinner Operant Conditioning (Skinner OC), and it is composed by a bionic reorientation mechanism and an OC learning mechanism. The reorientation mechanism take for orientation function of robot posture balance as the goal-orientation, and response to the output control variable of fuzzy stochastic controller; Learning mechanism updated probability contribution of output control variable by using the response information form the environment and then choose the optimal control variable according to the new probability contribution. The OCPFA learning system gradually adapts to the environment changes by interacting with the dynamic environment based on which the learning system realize the self-organization of stochastic fuzzy control rules and show character of autonomous learning. In the same time the theoretical prove that the process of autonomous learning is convergent in sense of probability. The simulation indicate the stochastic fuzzy controller can successfully applied in two-wheeled robot self-balancing without requiring the model of the robot and the robot can show control behavior of autonomous learning which similar to animal's OC learning behavior.
Starting Page	4775
Ending Page	4780
File Size	427151
Page Count	6
File Format	PDF
ISBN	9781424467129
e-ISBN	9781424467129
DOI	10.1109/WCICA.2010.5554568
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-07
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stochastic processes Mobile robots Fuzzy control Probabilistic logic Learning automata autonomous learning stochastic fuzzy controller self-balancing control OCPFA learning system
Content Type	Text
Resource Type	Article

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