Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study
Copyright policy )Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study
This article presents a tracking control design for two-link robot manipulators. To achieve robust tracking control performance, a super-twisting sliding mode control (STSMC) is derived. The stability of the system based on the proposed approach is proved based on the Lyapunov theorem. However, one problem with the designed STSMC is to properly set its parameters during the design. Therefore, it is proposed a social spider optimization (SSO) to tune these design parameters to improve the dynamic performance of the robot manipulator controlled considering STSMC. The performance of the STSMC approach based on SSO is compared to that based on particle swarming optimization (PSO) in terms of dynamic performance and robustness characteristics. The effectiveness of the proposed optimal controllers is verified by simulations within the MATLAB software. It is verified that the performance given by SSO-based STSMC outperforms that resulting from PSO-based STSMC. The experimental results are conducted based on LabVIEW 2019 software to validate the numerical simulation.
MATLAB, Artificial intelligence, Social spider optimization, TK7800-8360, Sliding mode control, Computer Networks and Communications, Robot, Robustness (evolution), Sliding Mode Control, Control (management), Control of Nonholonomic Mobile Robots, Robust Stabilization, Biochemistry, Quantum mechanics, Gene, Adaptive Control, Engineering, Distributed Multi-Agent Coordination and Control, Control theory (sociology), Lyapunov function, Manipulador robótico, Particle swarm optimization, Control engineering, Physics, QA75.5-76.95, Inteligência artificial, Otimização por enxame de partículas, Computer science, Programming language, Algorithm, Chemistry, Operating system, Control and Systems Engineering, Electronic computers. Computer science, Super-twisting SMC, Physical Sciences, Computer Science, Nonlinear system, Robotic Control and Stabilization Techniques, Electronics, Software, Simulation, Robotic manipulator
MATLAB, Artificial intelligence, Social spider optimization, TK7800-8360, Sliding mode control, Computer Networks and Communications, Robot, Robustness (evolution), Sliding Mode Control, Control (management), Control of Nonholonomic Mobile Robots, Robust Stabilization, Biochemistry, Quantum mechanics, Gene, Adaptive Control, Engineering, Distributed Multi-Agent Coordination and Control, Control theory (sociology), Lyapunov function, Manipulador robótico, Particle swarm optimization, Control engineering, Physics, QA75.5-76.95, Inteligência artificial, Otimização por enxame de partículas, Computer science, Programming language, Algorithm, Chemistry, Operating system, Control and Systems Engineering, Electronic computers. Computer science, Super-twisting SMC, Physical Sciences, Computer Science, Nonlinear system, Robotic Control and Stabilization Techniques, Electronics, Software, Simulation, Robotic manipulator
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