Fuzzy SVM controller for robotic manipulator based on GA and LS algorithm

Authors:
Dequan Zhu;Tao Mei;Minzhou Luo;Ke Guan;Dequan Zhu
Affiliations:
Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China;Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China;Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China;Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China;Department of Automation, University of Science and Technology of China, Hefei, China
Venue:
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 6
Year:
2009

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Abstract

To improve the control precision of robotic manipulator, fuzzy support vector machines control method for robotic manipulator was presented based on genetic algorithm and least square algorithm. Fuzzy algorithm was used to decouple joints. Using support vector machines, fuzzy logical control of complete process and treatment of non-linear signal were realized. The controller parameters were optimized by hybrid learning algorithm. First, least square algorithm was used for off-line optimization to form support vector machines control system. Then, genetic algorithm was used for on-line optimization to get the optimal performance parameters of support vector machines and the optimal fuzzy proportional parameters. The simulation results of a two-link manipulator demonstrated that the control method designed gets tracking effect with high precision.