Robust nonlinear control design using competitive coevolution

Abstract

A novel approach to design robust nonlinear control laws for dynamic systems that are not in canonical form or unknown is introduced. A competitive coevolutionary algorithm is used to design a sliding mode controller based on an approximate model of both the system and uncertainties. The power of evolutionary computation leads to a systematic convergence on accurate nominal model based controllers and the use of competitive coevolution offers a new method to handle model uncertainties with a sliding control structure.