Control of a Two-Wheled Robot Using Emotional Learning Controller

In this paper a two-wheeled robot is controlled by applying an intelligent emotional learning controller, Takagi-SugenoKang (TSK). The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic whose task is to assess the present situation resulted from the applied control action and provides the emotional signal (the stress). The contribution of emotional learning based intelligent controller (ELIC) in improving the control systemperformance.

Keywords:

Two-wheled robot , Neurofuzzy controller , critic , Emotional learning , Takagi- Sugeno- Kang (TSK)