Neuro-f uzzy system modeling based on automatic f uzzy clustering

Key words:  Neuro-fuzzy system  Automatic fuzzy C-means  Gradient descent  Back propagation  Recursive least square estimation  Two- link manipulator

摘要:

Abstract:

A neuro-fuzzy system model based on automatic fuzzy clustering is proposed. A hybrid model identification algorithm is also developed to decide the model structure and model parameters. The algorithm mainly includes three parts :1) Automatic fuzzy C-means (AFCM) , which is applied to generate fuzzy rules automatically , and then fix on the size of the neuro-fuzzy network , by which the complexity of system design is reducesd greatly at the price of the fitting capability; 2)Recursive least square estimation ( RLSE) . It is used to update the parameters of Takagi-Sugeno model , which is employed to describe the behavior of the system;3) Gradient descent algorithm is also proposed for the fuzzy values according to the back propagation algorithm of neural network. Finally ,modeling the dynamical equation of the two- link manipulator with the proposed approach is illustrated to validate the feasibility of the method.