Application of multiple fuzzy-neuro force controllers in an unknown environment using genetic algorithms

This paper presents an effective force control method in which multiple fuzzy-neuro force controllers are suitably and automatically combined with a proper rate in accordance with the unknown dynamics of an environment. The optimal combination rate of the fuzzy-neuro force controllers according to the environment dynamics is defined online by a neural network which is off-line trained with genetic algorithms. The effectiveness of the proposed method has been evaluated by computer simulation.