TY - JOUR
T1 - On-line genetic fuzzy-neural sliding mode controller design
AU - Lin, Ping Zong
AU - Wang, Wei Yen
AU - Lee, Tsu Tian
AU - Chen, Guan Ming
PY - 2005
Y1 - 2005
N2 - In this paper, a novel online B-spline membership function (BMF) fuzzy-neural sliding mode controller trained by an adaptive bound reduced-form genetic algorithm (ABRGA) is developed to guarantee robust stability and tracking performance for robot manipulators with uncertainties and external disturbances. The general sliding manifold is used to construct the sliding surface and reduce the chattering of the control signal, which can be nonlinear or time varying. For the purpose of identification, the proposed BMF fuzzy-neural network trained by the ABRGA approximates the regressor of the manipulator. An adaptive bound algorithm is used to aid and speed up the searching speed of the RGA. Simulation results show that the proposed on-line ABRGA-based BMF fuzzy-neural sliding mode controller is effective and yields superior tracking performance for robot manipulators.
AB - In this paper, a novel online B-spline membership function (BMF) fuzzy-neural sliding mode controller trained by an adaptive bound reduced-form genetic algorithm (ABRGA) is developed to guarantee robust stability and tracking performance for robot manipulators with uncertainties and external disturbances. The general sliding manifold is used to construct the sliding surface and reduce the chattering of the control signal, which can be nonlinear or time varying. For the purpose of identification, the proposed BMF fuzzy-neural network trained by the ABRGA approximates the regressor of the manipulator. An adaptive bound algorithm is used to aid and speed up the searching speed of the RGA. Simulation results show that the proposed on-line ABRGA-based BMF fuzzy-neural sliding mode controller is effective and yields superior tracking performance for robot manipulators.
KW - Bmf fuzzy-neural sliding mode controllers
KW - On-line adaptive bound reduced-form genetic algorithms
KW - Robot manipulators
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M3 - Conference article
AN - SCOPUS:27944446401
VL - 1
SP - 245
EP - 250
JO - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
JF - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SN - 1062-922X
T2 - IEEE Systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on Systems, Man and Cybernetics
Y2 - 10 October 2005 through 12 October 2005
ER -