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Fuzzy Sliding Mode Control of Robotic Manipulators Based on Genetic Algorithms

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MICAI 2004: Advances in Artificial Intelligence (MICAI 2004)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2972))

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Abstract

In this paper, fuzzy sliding mode controller based on genetic algorithms is designed to govern the dynamics of rigid robot manipulators. When fuzzy sliding mode control is designed there is no criterion to reach an optimal design. Therefore, we will design a fuzzy sliding mode controller for the general nonlinear control systems as an optimization problem and apply the optimal searching algorithms and genetic algorithms to find the optimal rules and membership functions of the controller. The proposed approach has the merit to determine the optimal structure and the inference rules of fuzzy sliding mode controller simultaneously. Using the proposed approach, the tracking problem of two-degree-of-freedom rigid robot manipulator is studied. Simulation results of the close-loop system with the proposed controller based on genetic algorithms show the effectiveness of that.

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Author information

Authors and Affiliations

  1. Young Researchers Club, Islamic Azad University, Iran, P.O. Box: 14395/1355, Tehran, Iran

    Mahdi Jalili-Kharaajoo & Hossein Rouhani

Authors
  1. Mahdi Jalili-Kharaajoo
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  2. Hossein Rouhani
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Editor information

Editors and Affiliations

  1. Computer Science Department, Tecnológico de Monterrey, Campus Estado de México, Carretera al lago de Guadalupe, Km 3.5, Atizapán, 52926, Mexico

    Raúl Monroy

  2. Instituto de Investigaciones Electricas, Reforma # 113, Col. Palmira, 62490, Morelos, Cuernavaca, Mexico

    Gustavo Arroyo-Figueroa

  3. Instituto Nacional de Astrofísica, Óptica y Electrónica, Luis Enrique Erro No. 1, 72840, Puebla, México

    Luis Enrique Sucar

  4. Centro de Investigación en Computación – IPN, Av. Juan de Dios Batíz, esquina con Miguel Othón de Mendizábal, Ciudad de México, 07738, México

    Humberto Sossa

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© 2004 Springer-Verlag Berlin Heidelberg

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Jalili-Kharaajoo, M., Rouhani, H. (2004). Fuzzy Sliding Mode Control of Robotic Manipulators Based on Genetic Algorithms. In: Monroy, R., Arroyo-Figueroa, G., Sucar, L.E., Sossa, H. (eds) MICAI 2004: Advances in Artificial Intelligence. MICAI 2004. Lecture Notes in Computer Science(), vol 2972. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24694-7_92

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  • DOI: https://doi.org/10.1007/978-3-540-24694-7_92

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-21459-5

  • Online ISBN: 978-3-540-24694-7

  • eBook Packages: Springer Book Archive

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