TY - GEN
T1 - GA-based adaptive fuzzy-neural control for a class of MIMO systems
AU - Leu, Yih Guang
AU - Hong, Chin Ming
AU - Zhon, Hong Jian
PY - 2007
Y1 - 2007
N2 - A GA-based adaptive fuzzy-neural controller for a class of multi-input multi-output nonlinear systems, such as robotic systems, is developed for using observers to estimate time derivatives of the system outputs. The weighting parameters of the fuzzy-neural controller are tuned on-line via a genetic algorithm (GA). For the purpose of on-line tuning the weighting parameters of the fuzzy-neural controller, a Lyapunov-based fitness function of the GA is obtained. Besides, stability of the closed-loop system is proven by using strictly-positive-real (SPR) Lyapunov theory. The proposed overall scheme guarantees that all signals involved are bounded and the outputs of the closed-loop system track the desired output trajectories. Finally, simulation results are provided to demonstrate robustness and applicability of the proposed method.
AB - A GA-based adaptive fuzzy-neural controller for a class of multi-input multi-output nonlinear systems, such as robotic systems, is developed for using observers to estimate time derivatives of the system outputs. The weighting parameters of the fuzzy-neural controller are tuned on-line via a genetic algorithm (GA). For the purpose of on-line tuning the weighting parameters of the fuzzy-neural controller, a Lyapunov-based fitness function of the GA is obtained. Besides, stability of the closed-loop system is proven by using strictly-positive-real (SPR) Lyapunov theory. The proposed overall scheme guarantees that all signals involved are bounded and the outputs of the closed-loop system track the desired output trajectories. Finally, simulation results are provided to demonstrate robustness and applicability of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=37249060694&partnerID=8YFLogxK
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U2 - 10.1007/978-3-540-72383-7_7
DO - 10.1007/978-3-540-72383-7_7
M3 - Conference contribution
AN - SCOPUS:37249060694
SN - 9783540723820
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 45
EP - 53
BT - Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings
PB - Springer Verlag
T2 - 4th International Symposium on Neural Networks, ISNN 2007
Y2 - 3 June 2007 through 7 June 2007
ER -