A GA-based adaptive fuzzy-neural controller for a class of multi-input multi-output nonlinear systems, such as robotic systems, is developed for using observers to estimate time derivatives of the system outputs. The weighting parameters of the fuzzy-neural controller are tuned on-line via a genetic algorithm (GA). For the purpose of on-line tuning the weighting parameters of the fuzzy-neural controller, a Lyapunov-based fitness function of the GA is obtained. Besides, stability of the closed-loop system is proven by using strictly-positive-real (SPR) Lyapunov theory. The proposed overall scheme guarantees that all signals involved are bounded and the outputs of the closed-loop system track the desired output trajectories. Finally, simulation results are provided to demonstrate robustness and applicability of the proposed method. © Springer-Verlag Berlin Heidelberg 2007.
CITATION STYLE
Leu, Y. G., Hong, C. M., & Zhon, H. J. (2007). GA-based adaptive fuzzy-neural control for a class of MIMO systems. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4491 LNCS, pp. 45–53). Springer Verlag. https://doi.org/10.1007/978-3-540-72383-7_7
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