A Mutually Recurrent Interval Type-2 Neural Fuzzy System (MRIT2NFS) With Self-Evolving Structure and Parameters

2013 ◽  
Vol 21 (3) ◽  
pp. 492-509 ◽  
Author(s):  
Yang-Yin Lin ◽  
Jyh-Yeong Chang ◽  
N. R. Pal ◽  
Chin-Teng Lin
Keyword(s):  
Fuzzy System ◽  
Interval Type ◽  
Recurrent Interval ◽  
Neural Fuzzy

scholarly journals Interval Type-2 Neural Fuzzy Controller-Based Navigation of Cooperative Load-Carrying Mobile Robots in Unknown Environments

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4181 ◽  
Author(s):  
Chun-Hui Lin ◽  
Shyh-Hau Wang ◽  
Cheng-Jian Lin
Keyword(s):  
Mobile Robots ◽  
Control Method ◽  
Fuzzy Controller ◽  
Bee Colony ◽  
Load Carrying ◽  
Navigation Control ◽  
Interval Type ◽  
Navigation Method ◽  
Neural Fuzzy

In this paper, a navigation method is proposed for cooperative load-carrying mobile robots. The behavior mode manager is used efficaciously in the navigation control method to switch between two behavior modes, wall-following mode (WFM) and goal-oriented mode (GOM), according to various environmental conditions. Additionally, an interval type-2 neural fuzzy controller based on dynamic group artificial bee colony (DGABC) is proposed in this paper. Reinforcement learning was used to develop the WFM adaptively. First, a single robot is trained to learn the WFM. Then, this control method is implemented for cooperative load-carrying mobile robots. In WFM learning, the proposed DGABC performs better than the original artificial bee colony algorithm and other improved algorithms. Furthermore, the results of cooperative load-carrying navigation control tests demonstrate that the proposed cooperative load-carrying method and the navigation method can enable the robots to carry the task item to the goal and complete the navigation mission efficiently.

System Identification Based on Dynamical Training for Recurrent Interval Type-2 Fuzzy Neural Network

2013 ◽  
pp. 188-205
Author(s):  
Tsung-Chih Lin ◽  
Yi-Ming Chang ◽  
Tun-Yuan Lee
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
System Identification ◽  
Nonlinear System ◽  
Fuzzy Neural Networks ◽  
Training Data ◽  
Fuzzy Neural ◽  
Interval Type ◽  
Recurrent Interval

This paper proposes a novel fuzzy modeling approach for identification of dynamic systems. A fuzzy model, recurrent interval type-2 fuzzy neural network (RIT2FNN), is constructed by using a recurrent neural network which recurrent weights, mean and standard deviation of the membership functions are updated. The complete back propagation (BP) algorithm tuning equations used to tune the antecedent and consequent parameters for the interval type-2 fuzzy neural networks (IT2FNNs) are developed to handle the training data corrupted by noise or rule uncertainties for nonlinear system identification involving external disturbances. Only by using the current inputs and most recent outputs of the input layers, the system can be completely identified based on RIT2FNNs. In order to show that the interval IT2FNNs can handle the measurement uncertainties, training data are corrupted by white Gaussian noise with signal-to-noise ratio (SNR) 20 dB. Simulation results are obtained for the identification of nonlinear system, which yield more improved performance than those using recurrent type-1 fuzzy neural networks (RT1FNNs).

Sign in / Sign up

Export Citation Format

Share Document