Feedback linearization control of a two-link robot using a multi-crossover genetic algorithm

In this paper, we propose a novel multi-crossover genetic algorithm (GA) to identify the system parameters of a two-link robot. The resulted system model by the proposed GA is then applied to the feedback linearization control such that the two-link robot system call be transferred to a linear model with a nonlinear bounded time-varying uncertainty. To deal with the uncertainty, a sliding mode control approach is designed to achieve the tracking control. Finally, sonic simulation results are demonstrated to show the utility of our proposed method. (C) 2008 Elsevier Ltd. All rights reserved.