This article presents a new method for learning and tuning a fuzzy logic controller automatically. A reinforcement learning and a genetic algorithm are used in conjunction with a multilayer neural network model of a fuzzy logic controller, which can automatically generate the fuzzy control rules and refine the membership functions at the same time to optimize the final system's performance. In particular, the self-learning and tuning fuzzy logic controller based on genetic algorithms and reinforcement learning architecture, which is called a Stretched Genetic Reinforcement Fuzzy Logic Controller (SGRFLC), proposed here, can also learn fuzzy logic control rules even when only weak information, such as a binary target of ''success'' or ''failure'' signal, is available. We extend the AHC algorithm of Barto, Sutton, and Anderson to include the prior control knowledge of human operators. It is shown that the system can solve a fairly difficult control learning problem more concretely, the task is a cart-pole balancing system, in which a pole is hinged to a movable cart to which a continuously variable control force is applied. (C) 1997 John Wiley & Sons, Inc.
