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ISSN Imprimer: 1064-2315
ISSN En ligne: 2163-9337
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Parametric Optimization of Fuzzy Control Systems Based on Hybrid Particle Swarm Algorithms with Elite Strategy
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RÉSUMÉ
This article is dedicated to the development and study of a hybrid multiagent method of parametric optimization of fuzzy control systems that combines the advantages of particle swarm algorithms and local search algorithms based on the elite strategy. The obtained method allows one to optimize effectively various parameters of fuzzy systems, finding the global optimum of the problem to be solved, and, at the same time, has the higher convergence rate compared with the basic particle swarm method. The study of the effectiveness of the proposed hybrid multiagent method is carried out at parametric optimization of a luzzy system of speed control of the multipurpose caterpillar mobile robot able to move along inclined and vertical ferromagnetic surfaces. In particular, in this paper, the problem of parametric optimization of the weight coefficients of the consequents of the rule base of the fuzzy speed controller of the mobile robot is solved, using the basic particle swarm method, as well as using two modifications of the developed method: the hybrid particle swarm method based on the elite strategy with gradient descent, the hybrid particle swarm method based on the elite strategy with the algorithm of extended Kalman filter. The analysis of the computer simulation results has showed that both modifications of the proposed hybrid method allow one to conduct optimization of the coefficients of the consequents of the rule base significantly more efficient compared with the basic particle swarm method. Also, a speed control system with an optimized vector of coefficients of the controller's rule base based on the considered modifications of the hybrid method of parametric optimization has higher control performance indicators than a system with an optimized vector of coefficients based on the basic particle swarm method. Thus, the studies conducted in this article confirm the high efficiency of the developed hybrid multiagent method based on the elite strategy, as well as the feasibility of its use for parametric optimization of fuzzy control systems of various types and configurations.
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