Abstract
This paper shows that a hybrid fuzzy logic controller depends mainly on its control fuzzy rules and fuzzy membership functions. However, it is important to adjust these parameters for the process to be controlled. An strategy for fine-tuning membership functions using genetic algorithms (GA) in order to control the tracking position of a robot possessing two joints is presented. Also, the comparison between the controller without optimisation and the optimised controller using GA is shown in simulations.
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