A Hierarchical Approach to Designing Approximate Reasoning-Based Controllers for Dynamic Physical Systems
Hamid Berenji, Yung-Yaw Chen, Chuen-Chien Lee, Jyh-Shing Jang, S. Murugesan
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base and remain highly interactive during the execution of the control task. The approach has been implemented in a rule-based computer program which is used in conjunction with a prototype hardware system to solve the cart-pole balancing problem in real-time. It provides a complementary approach to the conventional analytical control methodology, and is of substantial use where a precise mathematical model of the process being controlled is not available.
PDF Link: /papers/90/p331-berenji.pdf
AUTHOR = "Hamid Berenji
and Yung-Yaw Chen and Chuen-Chien Lee and Jyh-Shing Jang and S. Murugesan",
TITLE = "A Hierarchical Approach to Designing Approximate Reasoning-Based Controllers for Dynamic Physical Systems",
BOOKTITLE = "Uncertainty in Artificial Intelligence 6 Annual Conference on Uncertainty in Artificial Intelligence (UAI-90)",
PUBLISHER = "Elsevier Science",
ADDRESS = "Amsterdam, NL",
YEAR = "1990",
PAGES = "331--343"