Optimal and stable fuzzy controllers for nonlinear systems based on an improved genetic algorithm
Leung, F.H.F.
Lam, H.K.
Ling, S.H.
Tam, P.K.S.
Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., Kowloon, China;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb. 2004
Volume: 51,
Issue: 1
On page(s): 172- 182
ISSN: 0278-0046
INSPEC Accession Number: 7987590
Digital Object Identifier: 10.1109/TIE.2003.821898
Current Version Published: 2004-02-19
Abstract
This paper addresses the optimization and stabilization problems of nonlinear systems subject to parameter uncertainties. The methodology is based on a fuzzy logic approach and an improved genetic algorithm (GA). The TSK fuzzy plant model is employed to describe the dynamics of the uncertain nonlinear plant. A fuzzy controller is then obtained to close the feedback loop. The stability conditions are derived. The feedback gains of the fuzzy controller and the solution for meeting the stability conditions are determined using the improved GA. In order to obtain the optimal fuzzy controller, the membership functions are further tuned by minimizing a defined fitness function using the improved GA. An application example on stabilizing a two-link robot arm will be given.
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