Speed control of 3-mass system with sliding mode control and CMAC

Author

Fujisawa, Shoichiro ; Obika, Masanobu ; Yamamoto, Toru ; Kawada, Kazuo ; Sueda, Osamu

Author_Institution

Graduate Sch. of Technol., Tokushima Univ., Japan

Volume

5

fYear

2004

fDate

10-13 Oct. 2004

Firstpage

4400

Abstract

This work deals with a design scheme of the speed control for a 3-mass system, which has a hybrid structure of a sliding mode controller and a cerebellar model articulation controller (CMAC). The nonlinear control part in the sliding mode controller is firstly designed, and then a real-coded genetic algorithm is utilized to optimize the output from the sliding mode controller. The CMAC compensates the sliding mode controller so that the control performance is improved well. The behavior of the newly proposed control scheme is experimentally examined in comparison with using only the sliding mode controller.

Keywords

cerebellar model arithmetic computers; control system synthesis; genetic algorithms; nonlinear control systems; variable structure systems; velocity control; 3-mass system; CMAC; cerebellar model articulation controller; nonlinear control; real-coded genetic algorithm; sliding mode control; speed control; Artificial intelligence; Artificial neural networks; Cities and towns; Control systems; Genetic algorithms; Robust control; Robust stability; Sliding mode control; Springs; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1401224

Filename

1401224