This paper deals with the tracking controller design of robotic manipulator using genetic algorithm (GA). A genetic fuzzy wavelet neural network (GFWNN) controller is designed and implemented based on MATLAB in this paper, whose parameters are optimized by GA. The structure and algorithm of fuzzy wavelet neural network (FWNN) are described at first. Then the key content of GA used in this paper and the steps for using GA to optimize FWNN are demonstrated. Finally, a numerical simulation of tracking control for 2-link robotic manipulator is given to verify the effectiveness of the proposed method.
Finite-time tracking controller design of perturbed robotic manipulator based on adaptive second-order sliding mode control method