Parameter Selection in the Sliding Mode Control Design Using Genetic Algorithms

Ching-Chang Wong; Shih-Yu Chang

doi:10.6180/jase.1998.1.2.04

Parameter Selection in the Sliding Mode Control Design Using Genetic Algorithms

Electrical Engineering

Ching-Chang Wong¹ and Shih-Yu Chang¹

¹Dept. of Electrical Engineering, Tamkang University， Tamsui, Taipei, Taiwan 25137, R.O.C﹒

Received: December 1, 1997
Accepted: November 23, 1998
Publication Date: November 23, 1998

Download Citation: ||https://doi.org/10.6180/jase.1998.1.2.04

ABSTRACT

In this paper, we propose a parameter selection method by using the genetic algorithms in the sliding mode control of the variable structure system. The proposed method can efficiently choose the appropriate gain parameters based on a proposed fitness function to increase the speed of system response in the reaching phase and reduce the chattering in the sliding phase so that a high performance can be achieved. Some simulation results prove the validity of the proposed Method.

Keywords: Sliding mode control, hitting time, chattering, genetic algorithms.

REFERENCES

[1]. Bartolini, G., "Chattering phenomena in discontinuous control systems," Int. J. Syst. Sci., Vol. 20, pp. 2471-2481 (1989).
[2]. Bengiamin, N.N. and Kauffmann B., "Variable structure position control," IEEE Control Systems Magarine, Vol. 4, pp. 3-8 (1984).
[3]. Davis, i,. (Ed.), Handbook of Genetic Algorithms, (Van Nostrand Reinhold, New York). (1991).
[4]. Goldberg, D.E., Genetic Algorithms in Search, Optimization, and Machine Learning. (Reading, Addison-Wesley, Reading, MA) (1989).
[5]. Hwang, G.C. and Lin, S.C., "A stability approach to fUzzy control design for nonlinear systems," Fuz~y Sets and Systems, Vol. 48, pp. 279-287 (1992).
[6]. Itkis U., Control system of variable structure. (Wiely, New York) (1976).
[7]. Karr, C.L., "Fuzzy control ofpH using genetic algrithms," IEEE Trans. on Fuzzy Systems, Vol. i, pp. 46-53 (1993).
[8]. Krishnkumr, K. and Goldberg, D.E., "Control system optimazation using genetic algorithms," Journal of Guidance. Control, and Dynamics, Vol. 15, pp. 735-740 (1992).
[9]. Lin, S.C. and Kung, C.C., "The fuzzy-sliding mode controller," Proceeding of the 15th National Symposium on Automatic Control, R.O.C., pp. 359-366 (1992).
[10]. Lin, S.C. and Chen, Y.Y., "Design of adaptive fuzzy sliding mode for nonlinear system control," Proceeding of Third IEEE International Conference on Fuzzy Systems, U.S.A., pp. 35-39 (1994).
[11]. Morgan, R.G. andOzguner, U., "A decentralized variable structure control algorithm for robotic manipulators," IEEEJ. Robotics anddutomation, Vol. RA-l,pp. 57-65 (1985).
[12]. Slotine, J.J., "Sliding controller design for non-linear systems," Int. J. Control, Vol. 40, pp. 421-434 (1984).
[13]. Utkin, V.I., Sliding modes and their application in variable structure systems. (MIR, Moscow) (1978).
[14]. Wang, W.J. and LEE, J.L., "Hitting time reduction and chattering attenuation in variable structure systems," Journal of Control Systems and Technology, Vol. i, pp. 19-25 (1993) .
[15]. Young, K.K.D., Kokotovic, P.V. and Utkin., V.I., "A singular perturbation analysis of high-gain feedback systems," IEEE Trans. on Automatic Control, Vol. AC-22, pp. 931-938(1977).
[16]. Yeung, K.S. and Chen, Y.P., "A new controller design for manipulators using the theory of variable structure systems," IEEE Trans. on Automatic Control, Vol. AC-33, pp. 200-206(1988).