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

Research output: Contribution to journalArticle

10 Citations (Scopus)

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
Publication statusPublished - 2009 Jun 1

Fingerprint

Sliding Mode
Robot Manipulator
Genetic algorithms
Genetic Algorithm
Controller
Controllers
Manipulators
Fuzzy neural networks
Fuzzy Neural Network
Robots
Crossover
B-spline Function
Chattering
Optimal Parameter
Sliding mode control
Compensator
Robust Stability
Membership functions
Sliding Mode Control
Membership Function

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications

Cite this

On-line genetic algorithm-based fuzzy-neural sliding mode controller using improved adaptive bound reduced-form genetic algorithm. / Lin, Ping Zong; Wang, Wei Yen; Lee, Tsu Tian; Wang, Chi Hsu.

In: International Journal of Systems Science, Vol. 40, No. 6, 01.06.2009, p. 571-585.

Research output: Contribution to journalArticle

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