Abstract: This paper addresses the problem of tuning the input and the output parameters of a fuzzy logic controller. The system learns autonomously without supervision or a priori training data. Two novel techniques are proposed. The first technique combines Q(λ)-learning with function approximation (fuzzy inference system) to tune the parameters of a fuzzy logic controller operating in continuous state and action spaces. The second technique combines Q(λ)-learning with genetic algorithms to tune the parameters of fuzzy logic controller in the discrete state and action spaces. The proposed techniques are applied to pursuit- evasion differential games. The proposed techniques are compared with the optimal strategy, Q(λ)-learning only, reward-based genetic algorithms learning, and to the technique proposed by Dai et al. (2005) in which a neural network is used as a function approximation for Q-learning. Computer simulations show the usefulness of the proposed techniques. PDF
Keywords: Adaptive Control, Robot Control, Nonlinear Output Feedback Control.