摘要：Trial and error method can be used to find a suitable design of a fuzzy controller. However, there are many options including fuzzy rules, Membership Functions (MFs) and scaling factors to achieve a desired performance. An optimiza-tion algorithm facilitates this process and finds an optimal design to provide a desired performance. This paper presents a novel application of the Bacterial Foraging Optimization algorithm (BFO) to design a fuzzy controller for tracking control of a robot manipulator driven by permanent magnet DC motors. We use efficiently the BFO algorithm to form the rule base and MFs. The BFO algorithm is compared with a Particle Swarm Optimization algorithm (PSO). Performance of the controller in the joint space and in the Cartesian space is evaluated. Simulation results show superiority of the BFO algorithm to the PSO algorithm.

摘要：This paper presents a two-level learning method for designing an optimal Radial Basis Function Network (RBFN) using Adaptive Velocity Update Relaxation Particle Swarm Optimization algorithm (AVURPSO) and Orthogonal Least Squares algorithm (OLS) called as OLS-AVURPSO method. The novelty is to develop an AVURPSO algorithm to form the hybrid OLS-AVURPSO method for designing an optimal RBFN. The proposed method at the upper level finds the global optimum of the spread factor parameter using AVURPSO while at the lower level automatically constructs the RBFN using OLS algorithm. Simulation results confirm that the RBFN is superior to Multilayered Perceptron Network (MLPN) in terms of network size and computing time. To demonstrate the effectiveness of proposed OLS-AVURPSO in the design of RBFN, the Mackey-Glass Chaotic Time-Series as an example is modeled by both MLPN and RBFN.