文章基本信息

标题：Trajectory-Tracking Control for Mobile Robot Using Recurrent Fuzzy Cerebellar Model Articulation Controller
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作者：Jinzhu Peng ; Yaonan Wang ; Wei Sun 等
期刊名称：Neural Information Processing: Letters and Reviews
电子版ISSN：1738-2532
出版年度：2007
卷号：11
期号：1
页码：15-23
出版社：Neural Information Processing
摘要：A kind of recurrent fuzzy cerebellar model articulation controller (RFCMAC) model is presented. The recurrent network is embedded in the RFCMAC by adding feedback connections on the first layer to embed temporal relations in the network. A nonconstant differentiable Gaussian basis function is used to model the hypercube structure and the fuzzy weight. A gradient descent learning algorithm is used to adjust the parameters. Simulation experiments are made by applying proposed RFCMAC on mobile robots tracking control problem to confirm its effectiveness, and has better dynamic performance than FCMAC.
关键词：Fuzzy Neural Network, CMAC, Recurrent Network, Mobile Robot, Trajectory-Tracking Control