A fuzzy controller for hexapod robot with modified fuzzy identification

Abstract

The establishment of fuzzy control rules has long been an important issue in fuzzy controller design. Several ways have been developed to construct fuzzy control rules, which may be based on the operator's control action, expert's experience and control engineering knowledge. However, trial-and-error efforts are inevitable in most methods and, consequently, make the design procedure a time-consuming task. Hence, efficient construction of fuzzy control rules become an active topic in fuzzy controller design. Among the most recent studies, the use of fuzzy identification to build a fuzzy model of a system was proposed by Takagi and Sugeno (1985). In this paper, a procedure is proposed to construct fuzzy control rules and the pseudoinverse method is employed to modify the fuzzy identification. It is found that the trial-and-error effort can be effectively reduced. The procedure has been applied to the synthesis of a fuzzy controller for a hexapod robot control model, and the method was examined by comparing the results with those of a traditional PID controller.