Adaptive neural-network based fuzzy logic (ANFIS) based trajectory controller design for one leg of a quadruped robot

dc.contributor.authorBakircio?lu V.
dc.contributor.authorArif Şen M.
dc.contributor.authorKalyoncu M.
dc.date.accessioned2020-03-26T19:31:56Z
dc.date.available2020-03-26T19:31:56Z
dc.date.issued2016
dc.departmentSelçuk Üniversitesien_US
dc.description5th International Conference on Mechatronics and Control Engineering, ICMCE 2016 -- 14 December 2016 through 17 December 2016 -- 126966en_US
dc.description.abstractIn this paper, a hybrid learning algorithm referred to as Adaptive Neuro Fuzzy Inference System (ANFIS) is used to obtain a neural-network based fuzzy logic (NNFL) controller to ensure walking in desired trajectory of the one leg of a quadruped robot. Firstly, Computer aided model drawing (CAD) model of system is converted into the Simulink/SimMechanics and PID controllers applied to the system Then, input and output data are obtained from PID controller set up training and checking data sets of the ANFIS. After trained network in the MATLAB/Fuzzy Logic Toolbox, NNFL controllers is acquired and applied to the system. PID controls and NNFL controllers are simulated in the MATLAB/Simulink and compared with each other according their performances in the trajectory tracking. The Simulation results are presented in graphical form to investigate the controllers. © 2016 ACM.en_US
dc.identifier.doi10.1145/3036932.3036954en_US
dc.identifier.endpage85en_US
dc.identifier.isbn9.78145E+12
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage82en_US
dc.identifier.urihttps://dx.doi.org/10.1145/3036932.3036954
dc.identifier.urihttps://hdl.handle.net/20.500.12395/34247
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherAssociation for Computing Machineryen_US
dc.relation.ispartofACM International Conference Proceeding Seriesen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectANFISen_US
dc.subjectFuzzy Logic Controlleren_US
dc.subjectQuadruped Roboten_US
dc.subjectTrajectory Trackingen_US
dc.titleAdaptive neural-network based fuzzy logic (ANFIS) based trajectory controller design for one leg of a quadruped roboten_US
dc.typeConference Objecten_US

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