FUZZY STATE AUTOMATA AND APPLICATIONS TO MOBILE ROBOT CONTROL

摘要

This paper introduces Fuzzy State Automata for control applications. They derive from the integration of traditional Finite State Automata and neuro-fuzzy systems, where a finite state automaton tracks, in a Fuzzy way, the state of the plant under control and modifies the characteristic of the controller. The main difference with respect to existing systems is that the states of the automata are identified by fuzzy, instead of crisp, variables therefore state transitions and the corresponding controller characteristic are smoother and easier to train or tune. This paper presents an application to legged robot control.