BBO optimization of an EKF for interval type-2 fuzzy sliding mode control

DOI

10.2991/ijcis.11.1.59How to use a DOI?

Keywords

Biogeography-Based Optimization; Interval Type-2 Fuzzy Logic System; Sliding Mode Control; Extended Kalman Filter; Two-Link Manipulator

Abstract

In this study, an optimized extended Kalman filter (EKF), and an interval type-2 fuzzy sliding mode control (IT2FSMC) in presence of uncertainties and disturbances are presented for robotic manipulators. The main contribution is the proposal of a novel application of Biogeography-Based Optimization (BBO) to optimize the EKF in order to achieve high performance estimation of states. The parameters to be optimized are the covariance matrices Q and R, which play an important role in the performances of EKF. The interval type-2 fuzzy logic system is used to avoid chattering phenomenon in the sliding mode control (SMC). Lyapunov theorem is used to prove the stability of control system. The suggested control approach is demonstrated using a computer simulation of two-link manipulator. Finally, simulations results show the robustness and effectiveness of the proposed scheme, and exhibit a more superior performance than its conventional counterpart.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

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TY  - JOUR
AU  - Ali Medjghou
AU  - Mouna Ghanai
AU  - Kheireddine Chafaa
PY  - 2018
DA  - 2018/03/14
TI  - BBO optimization of an EKF for interval type-2 fuzzy sliding mode control
JO  - International Journal of Computational Intelligence Systems
SP  - 770
EP  - 789
VL  - 11
IS  - 1
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.11.1.59
DO  - 10.2991/ijcis.11.1.59
ID  - Medjghou2018
ER  -