On-line genetic algorithm-based fuzzy-neural sliding mode controller using improved adaptive bound reduced-form genetic algorithm

Ping Zong Lin, Wei Yen Wang*, Tsu Tian Lee, Chi-Hsu Wang

*Corresponding author for this work

Research output: Contribution to journalArticle

10 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)571-585
Number of pages15
JournalInternational Journal of Systems Science
Volume40
Issue number6
DOIs
StatePublished - 1 Jun 2009

Keywords

  • Adaptive bound reduced-form genetic algorithm
  • Fuzzy-neural sliding mode controller
  • On-line genetic algorithm-based controller
  • Robot manipulator

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