Adaptive fuzzy control via modification of linguistic variables

Abstract

A fuzzy knowledge-based control system developed for mobile robot motion control is introduced. The method for deriving a fuzzy knowledge-base is established, based on a commercially available mobile robot. The adaptation method for fuzzy knowledge-based systems reacts to environmental variations and modifies the definitions of linguistic state variables instead of modifying the knowledge-base itself. Some simulation results are presented to demonstrate that the proposed adaptive scheme makes significant improvements in system performance even when there are severe environmental variations.<>