Adaptive Fuzzy-Lyapunov controller using biologically inspired swarm intelligence

Article type: Research Article

Authors: Carrasco Elizalde, Alejandro | Goldsmith, Peter

Affiliations: Department of Mechanical and Manufacturing Engineering, University of Calgary, 2500 University Drive N. W., Canada

Note: [] Corresponding author: Email: [email protected]; [email protected]

Abstract: The collective behaviour of swarms produces smarter actions than those achieved by a single individual. Colonies of ants, flocks of birds and fish schools are examples of swarms interacting with their environment to achieve a common goal. This cooperative biological intelligence is the inspiration for an adaptive fuzzy controller developed in this paper. Swarm intelligence is used to adjust the parameters of the membership functions used in the adaptive fuzzy controller. The rules of the controller are designed using a computing-with-words approach called Fuzzy-Lyapunov synthesis to improve the stability and robustness of an adaptive fuzzy controller. Computing-with-words provides a powerful tool to manipulate numbers and symbols, like words in a natural language.

Keywords: Lyapunov stability, fuzzy control, adaptive control, swarm intelligence, robotics

DOI: 10.1080/11762320802027869

Journal: Applied Bionics and Biomechanics, vol. 5, no. 1, pp. 33-46, 2008