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The published models should include a great deal of information, enough to allow replication with virtually any desired change in premises, parameter ranges, and scenarios.
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Premise parameters reduce fuzzy rules to solve the combination explosion of multi-inputs.
Furthermore the decomposition errors and the approximation errors resulted from premise parameters identification by Fuzzy c-Means clustering are decreased.
Iteratively, the PSO is used to evolve the premise parameters of CNFS, based on which the RLSE is used to update the consequent parameters.
The proposed hybrid learning algorithm utilizing the harmony search (HS) and least square method is used to adjust the model premise parameters and consequent parameters.
The premise parameters (antecedent membership functions parameters) as well as rule-consequence parameters are learned and optimized, generating the optimal-time trajectory torques, representing the robot dynamic behavior.
Moreover the clustering results including the number of clusters and the cluster centers are considered as the initial condition of the premise parameters identification.
First of all, the k-means++ algorithm is employed to identify the premise parameters so as to guarantee the number of fuzzy rules.
The fuzzy model has a Takagi Sugeno Kang structure and the premise parameters are defined based on the Fuzzy C-Means (FCM) clustering algorithm.
Premise parameters are computed in such a way that the asymptotic stability of the equilibrium point in the closed-loop system is guaranteed.
This is based on a fuzzy clustering algorithm to determine the number of fuzzy rules and the values of the premise parameters, and steepestdescent algorithms to basically determine the consequent parameters.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com