Backstepping Holonomic Tracking Control of Wheeled Robots Using an Evolutionary Fuzzy System with Qualified Ant Colony Optimization

2016 ◽  
Vol 18 (1) ◽  
pp. 28-40 ◽  
Author(s):  
Hsu-Chih Huang ◽  
Chih-Hao Chiang
2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Chi-Chung Chen ◽  
Yi-Ting Liu

This paper proposes an enhanced ant colony optimization with dynamic mutation and ad hoc initialization, ACODM-I, for improving the accuracy of Takagi-Sugeno-Kang- (TSK-) type fuzzy systems design. Instead of the generic initialization usually used in most population-based algorithms, ACODM-I proposes an ad hoc application-specific initialization for generating the initial ant solutions to improve the accuracy of fuzzy system design. The generated initial ant solutions are iteratively improved by a new approach incorporating the dynamic mutation into the existing continuous ACO (ACOR). The introduced dynamic mutation balances the exploration ability and convergence rate by providing more diverse search directions in the early stage of optimization process. Application examples of two zero-order TSK-type fuzzy systems for dynamic plant tracking control and one first-order TSK-type fuzzy system for the prediction of the chaotic time series have been simulated to validate the proposed algorithm. Performance comparisons with ACOR and different advanced algorithms or neural-fuzzy models verify the superiority of the proposed algorithm. The effects on the design accuracy and convergence rate yielded by the proposed initialization and introduced dynamic mutation have also been discussed and verified in the simulations.


2016 ◽  
Vol 33 (7) ◽  
pp. 1882-1898 ◽  
Author(s):  
Chi-Chung Chen ◽  
Li Ping Shen ◽  
Chien-Feng Huang ◽  
Bao-Rong Chang

Purpose The purpose of this paper is to propose a new population-based metaheuristic optimization algorithm, assimilation-accommodation mixed continuous ant colony optimization (ACACO), to improve the accuracy of Takagi-Sugeno-Kang-type fuzzy systems design. Design/methodology/approach The original N solution vectors in ACACO are sorted and categorized into three groups according to their ranks. The Research Learning scheme provides the local search capability for the best-ranked group. The Basic Learning scheme uses the ant colony optimization (ACO) technique for the worst-ranked group to approach the best solution. The operations of assimilation, accommodation, and mutation in Mutual Learning scheme are used for the middle-ranked group to exchange and accommodate the partial information between groups and, globally, search information. Only the N top-best-performance solutions are reserved after each iteration of learning. Findings The proposed algorithm outperforms some reported ACO algorithms for the fuzzy system design with the same number of rules. The performance comparison with various previously published neural fuzzy systems also shows its superiority even with a smaller number of fuzzy rules to those neural fuzzy systems. Research limitations/implications Future work will consider the application of the proposed ACACO to the recurrent fuzzy network. Originality/value The originality of this work is to mix the work of the well-known psychologist Jean Piaget and the continuous ACO to propose a new population-based optimization algorithm whose superiority is demonstrated.


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