A Reinforcement Learning Fuzzy Controller for the Ball and Plate system

In this paper, a new fuzzy logic controller, namely Reinforcement Learning Fuzzy Controller (RLFC), is proposed and implemented. Based on fuzzy logic, this newly proposed online-learning controller is capable of improving its behavior by learning from experiences it gains through interaction with the plant. RLFC is well established for hardware implementation with or without a priori knowledge about the plant. To evidence this claim, a hardware implementation of Ball and Plate system was established, and RLFC was then developed and applied to it. The obtained results are illustrated in this paper.