Transactions on Control, Automation and Systems Engineering

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Design of Fuzzy-Sliding Model Control with the Self Tuning Fuzzy Inference Based on Genetic Algorithm and Its Application

  • Go, Seok-Jo (Department of Machine System, Dongeui Institute of Technology) ;
  • Lee, Min-Cheol (School of Mechanical Engineering, Pusan National University) ;
  • Park, Min-Kyn (Graduate school of Department of Mechanical and Intelligent Systems Engineering, Pusan National University)
  • 발행 : 2001.03.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper proposes a self tuning fuzzy inference method by the genetic algorithm in the fuzzy-sliding mode control for a robot. Using this method, the number of inference rules and the shape of membership functions are optimized without an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. And, it is guaranteed that he selected solution become the global optimal solution by optimizing the Akaikes information criterion expressing the quality of the inference rules. The trajectory tracking simulation and experiment of the polishing robot show that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the proposed fuzzy-sliding mode controller provides reliable tracking performance during the polishing process.

키워드

참고문헌

  1. IEEE Trans. on System, Man and Cybernetics v.8 no.2 Controller design for manipulator using theory of variable structure systems K. K. D. Young
  2. Int. J. of Robotics Research v.4 no.4 The robust control of robot manipulators J. J. E. Slotine
  3. IEEE Trans. Industrial Electronics v.34 no.1 A Microprocessor-Based robot manipulator control with sliding mode H. Hashimoto;K. Maruyama;F. Harashima
  4. Proc. of SICE Real time Multi-Input sliding mode control of a robot manipulator based on DSP M. C. Lee;N. Aoshima
  5. KSME Int. J. v.12 no.5 Improving tracking performance of industrial SCARA robots using a new sliding mode control algorihm M. C. Lee;K. Son;J. M. Lee
  6. Proc. of 2nd Asian Control Conf. v.Ⅱ Real time Fuzzy-Sliding mode control for SCARA robot based on DSP M. C. Lee;S. J. Go
  7. GENETIC ALGORITHMS in Search, Optimization & Machine Learning D. Goldberg
  8. IEEE Trans. on Automatic Control v.AC-19 no.6 A new look at the statistical model identification H. Akaike
  9. Neural Fuzzy System C. T. Cin;C. S. George Lee
  10. Pro. of Int. Conf. on ICASE Development of a controller for polishing robot attached to machining center and its performance evaluation S. J. Go;M. C. Lee
  11. Proc. of Int. onf. on Intelligent Robots and Systems Development of a User-friendly polishing robot system M. C. Lee;S. J. Go;J. Y. Jung;M. H. Lee
  12. 10th Int. Conf. on Flexible Automation and Intelligent Manufacturing Robust trajectory tracking control of a polishing robot system based on CAM data M. C. Lee;S. J. Go;M. H. Lee;C. S. Jun;D. S. Kim;K. D. Cha;J. H. An
  13. Proc. of Int. Conf. on ICASE The design of Fuzzy-Sliding mode controller using genetic algorithm S. J. Go;M. C. Lee;M. K. Park
  14. Proc. of the 2000 IEEE Int. Conf. on Robotics & Automation Fuzzy-Sliding mode control with the self tuning fuzzy inference based on genetic algorithm S. J. Go;M. C. Lee
  15. Fuzzy Logic and Control J. Mohammad;U. Nader;J. R. Timothy
  16. Trans. of SICE v.25 no.7 Identification and its evaluation of the system with a nonlinear element by signal compression method M. C. Lee;N. Aoshima