Fuzzy logic controller design utilizing multiple contending software agents

被引:11
作者
Agah, A [1 ]
Tanie, K
机构
[1] Univ Kansas, Dept Elect Engn & Comp Sci, Lawrence, KS 66045 USA
[2] AIST, Agcy Ind Sci & Technol, Mech Engn Lab, Biorobot Div, Tsukuba, Ibaraki 305, Japan
关键词
fuzzy logic control; robotics applications; intelligent control; multi-agent systems; distributed control; fuzzy membership functions; human-robot interaction;
D O I
10.1016/S0165-0114(97)00257-1
中图分类号
TP301 [理论、方法];
学科分类号
081202 [计算机软件与理论];
摘要
The concept of fuzzy logic control based on a distributed multi-agent system is described in this paper. It is shown that a system composed of a number of cooperating and contending intelligent agents can perform well in terms of sensing the measured input data and producing output control signals. Each agent's implementation consists of a number of fuzzy logic control rules. Although at each time step, all the agents compete for the control of the system by proposing a possible action, the main controller chooses among the selections based on a number of evaluation criteria. It is through the simultaneous cooperation (to overall control the system) and competition (to take control at a given time), that the system yields convincing results. The effectiveness of the novel methodology is illustrated through the control of a robotic system that keeps an inverted pendulum in balance while being perturbed by a human force. In addition, the proposed methodology is applied to the practical control of a service mobile manipulator interacting with a human. It is shown that fuzzy logic control combined with intelligent multi-agent architecture can yield effective and efficient intelligent controllers. (C) 1999 Elsevier Science B.V. All rights reserved.
引用
收藏
页码:121 / 130
页数:10
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