The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of SYSTEMS ENGINEERING, APPLICATIONS AND DEVELOPMENT
Transactions ID Number: 20-644
Full Name: Dereje Shiferaw
Position: Assistant Professor
Age: ON
Sex: Male
Address: Bell Road, Clement Town, Dehradun 248002
Country: INDIA
Tel: +919720573668
Tel prefix: +91
Fax: +91-135-2644025
E-mail address: dnderejesh@gmail.com
Other E-mails: habteyegile@gmail.com,derejesh2000@ymail.com
Title of the Paper: Genetic Algorithm based Integral Sliding Surface Design and Its Application to Stewart Platform Manipulator Control
Authors as they appear in the Paper: Dereje S., Setty S. P, , Anamika J., Mitra R.
Email addresses of all the authors: dnderejesh@gmail.com,geudoon@gmail.com,anamikajain2829@gmail.com,rmtrafec@iitr.ernet.in
Number of paper pages: 11
Abstract: Integral sliding mode control has the potential to solve some of the drawbacks of simple sliding mode but the design of the integral sliding surface for nonlinear systems having unmatched uncertainty is a difficult task. In this paper, a design method using genetic algorithm is proposed and its effectiveness is tested using highly nonlinear system having unmatched uncertainty. The design of the integral nonlinear sliding surface is formulated as an optimization problem which minimizes the error between the nominal and perturbed system and an optimal gain is found using genetic algorithm. Then the problem of trajectory tracking control of Stewart platform manipulator is employed as a test bed. The controller is implemented in task space and joint space/task space hybrid and performances were compared. Simulations showed that the genetic algorithm based integral sliding mode controller has superior performance than existing controllers. Furthermore joint/task space !
hybrid implementation gives slightly bigger mean square error value in some directions but needs a smaller control effort compared to the pure task space implementation
Keywords: Genetic algorithm, Integral sliding mode control, Nonlinear control, Robust control, Sliding mode control, Stewart platform manipulator
EXTENSION of the file: .pdf
Special (Invited) Session: Comparision of Joint Space and Task Space Integral Sliding Mode Controller Implementations for a 6DOF Parallel Robot
Organizer of the Session: 653-330
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