標題: On-line genetic algorithm-based fuzzy-neural sliding mode controller using improved adaptive bound reduced-form genetic algorithm
作者: Lin, Ping-Zong
Wang, Wei-Yen
Lee, Tsu-Tian
Wang, Chi-Hsu
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: fuzzy-neural sliding mode controller;adaptive bound reduced-form genetic algorithm;robot manipulator;on-line genetic algorithm-based controller
公開日期: 2009
摘要: In this article, a novel on-line genetic algorithm-based fuzzy-neural sliding mode controller trained by an improved adaptive bound reduced-form genetic algorithm is developed to guarantee robust stability and good tracking performance for a robot manipulator with uncertainties and external disturbances. A general sliding manifold, which can be non-linear or time varying, is used to construct a sliding surface and reduce control law chattering. In this article, the sliding surface is used to derive a genetic algorithm-based fuzzy-neural sliding mode controller. To identify structured system dynamics, a B-spline membership function fuzzy-neural network, which is trained by the improved genetic algorithm, is used to approximate the regressor of the robot manipulator. The sliding mode control with a general sliding surface plays the role of a compensator when the fuzzy-neural network does not approximate the dynamics regressor of the robot manipulator well in the transient period. The adjustable parameters of the fuzzy-neural network are tuned by the improved genetic algorithm, which, with the use of the sequential-search-based crossover point method and the single gene crossover, converges quickly to near-optimal parameter values. Simulation results show that the proposed genetic algorithm-based fuzzy-neural sliding mode controller is effective and yields superior tracking performance for robot manipulators.
URI: http://hdl.handle.net/11536/7815
http://dx.doi.org/10.1080/00207720902750011
ISSN: 0020-7721
DOI: 10.1080/00207720902750011
期刊: INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Volume: 40
Issue: 6
起始頁: 571
結束頁: 585
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