Short Communication: Feedback linearization control of a two-link robot using a multi-crossover genetic algorithm

Authors:
Jian Liung Chen;Wei-Der Chang
Affiliations:
Department of Electrical Engineering, Kao Yuan University, Kaohsiung 821, Taiwan;Department of Computer and Communication, Shu-Te University, Kaohsiung 824, Taiwan
Venue:
Expert Systems with Applications: An International Journal
Year:
2009

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Abstract

In this paper, we propose a novel multi-crossover genetic algorithm (GA) to identify the system parameters of a two-link robot. The resulted system model by the proposed GA is then applied to the feedback linearization control such that the two-link robot system can be transferred to a linear model with a nonlinear bounded time-varying uncertainty. To deal with the uncertainty, a sliding mode control approach is designed to achieve the tracking control. Finally, some simulation results are demonstrated to show the utility of our proposed method.