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

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dc.contributor.authorBakırcıoğlu, Veli
dc.contributor.authorŞen, Muhammed Arif
dc.contributor.authorKalyoncu, Muhammed
dc.date.accessioned13.07.201910:50:10
dc.date.accessioned2019-07-16T08:21:46Z
dc.date.available13.07.201910:50:10
dc.date.available2019-07-16T08:21:46Z
dc.date.issued2016
dc.departmentTeknik Bilimler Meslek Yüksek Okulu
dc.description5th International Conference on Mechatronics and Control Engineering, ICMCE 2016 -- 14 December 2016 through 17 December 2016 -- -- 126966
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.
dc.identifier.doi10.1145/3036932.3036954
dc.identifier.endpage85en_US
dc.identifier.isbn9781450352154
dc.identifier.scopusqualityQ4
dc.identifier.startpage82en_US
dc.identifier.urihttps://dx.doi.org/10.1145/3036932.3036954
dc.identifier.urihttps://hdl.handle.net/20.500.12451/2341
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherAssociation for Computing Machinery
dc.relation.ispartofACM International Conference Proceeding Series
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectANFIS
dc.subjectFuzzy Logic Controller
dc.subjectQuadruped Robot
dc.subjectTrajectory Tracking
dc.titleAdaptive neural-network based fuzzy logic (ANFIS) based trajectory controller design for one leg of a quadruped robot
dc.typeConference Object

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