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

研究成果: Article同行評審

10 引文 斯高帕斯(Scopus)

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.

原文English
頁(從 - 到)571-585
頁數15
期刊International Journal of Systems Science
40
發行號6
DOIs
出版狀態Published - 1 六月 2009

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