期刊論文
| 學年 | 97 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2009-06-01 |
| 作品名稱 | On-Line Genetic Algorithm-Based Fuzzy-Neural Sliding Mode Controller Using Improved Adaptive Bound Reduced-Form Genetic Algorithm |
| 作品名稱（其他語言） | |
| 著者 | Lin, Ping-Zong; Wang, Wei-Yen; Lee, Tsu-Tian; Wang, Chi-Hsu |
| 單位 | 淡江大學電機工程學系 |
| 出版者 | Abingdon: Taylor & Francis |
| 著錄名稱、卷期、頁數 | International Journal of Systems Sicence 40(6), pp.571-585 |
| 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. |
| 關鍵字 | fuzzy-neural sliding mode controller; adaptive bound reduced-form genetic algorithm; robot manipulator; on-line genetic algorithm-based controller |
| 語言 | en |
| ISSN | 0020-7721 |
| 期刊性質 | 國外 |
| 收錄於 | SCI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 是 |
| 國別 | GBR |
| 公開徵稿 | |
| 出版型式 | 紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98858 ) |