Title :
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
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;
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Print_ISBN :
0-7803-8566-7
DOI :
10.1109/ICSMC.2004.1401224
