A compositional method using an evolutionary alborithm for finding fuzzy rules in 3-layered hierarchical fuzzy structure

This paper presents a novel compositional method for finding fuzzy rules in a three-layered hierarchical fuzzy structure. The proposed method incorporates a multi-objective evolutionary algorithm and a large set of initial conditions, including dynamical conditions of the system under investigation. The proposed method is focused on handling the large set of initial conditions by a multi-objective evolutionary algorithm and it can be applied to a wide range of dynamical control systems in robotics. The method has been evaluated on a dynamical system such as the inverted pendulum. The experimental results and analysis showed that the proposed method is much better than the existing methods such as amalgamation and single objective evolutionary algorithm based methods.