Hierarchical Fuzzy Intelligent Controller for Gymnastic Bar Actions
Junji Nishino, Akihiro Tagawa, Haruhiko Shirai, Tomohiro Odaka and Hisakazu Ogura
Department of Information Science, Faculty of engineering, Fukui University 3-9-1 Bunkyou, Fukui-shi, Fukui 910-8507, Japan
We introduce hierarchical fuzzy intelligent control for high-level navigation tasks in a unstable system. Control uses linguistic expressed knowledge and consists of three subsystems – planning, navigation, and regulation. System performance is demonstrated in a gymnastic action behavior control problem. Gymnastic action is a difficult task for control, because it has many difficult-to-handle properties such as nonlinearity, numerous degrees of freedom, and unstable behavior. We show the controller realize gymnastic action sequences with linguistic knowledge in 5-link dynamic model computer simulation.
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