Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study

International Journal of Advanced Robotic Systems

article

Ayad Q Al-Dujaili¹  Alaq Falah²  Amjad J Humaidi³  Daniel A Pereira⁴  Ibraheem K Ibraheem⁵ 

[1] Department of Control and Automation Techniques Engineering, Electrical Engineering Technical College, Middle Technical University;Department of Technical Mechatronics, Technical Engineering College, Middle Technical University;Control and Systems Engineering Department, University of Technology;Department of Automatics, Federal University of Lavras (UFLA);Electrical Engineering Department, College of Engineering, University of Baghdad

关键词: Robotic manipulator;    super-twisting SMC;    social spider optimization;    particle swarm optimization;   

DOI  :  10.1177/1729881420981524

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY