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Title of Journal: Nonlinear Dyn

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Abbravation: Nonlinear Dynamics

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Springer Netherlands

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1573-269X

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Optimal sliding mode control of a robot manipulato

Authors: Seyed Mohammad Hashem Zadeh Saeed Khorashadizadeh Mohammad Mehdi Fateh Mohammad Hadadzarif
Publish Date: 2016/02/09
Volume: 84, Issue: 4, Pages: 2227-2239
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Abstract

This paper presents a novel optimal control approach for robot manipulators using particle swarm optimization PSO Although the PSO algorithm can find an optimal solution for complex problems there are some difficulties to apply the particle swarm optimization in realtime control This paper deals with uncertainties in using the PSO for finding an optimal sliding mode control Being a repetitive algorithm with an offline nature the PSO is not as fast as sufficient to apply on a dynamical system Moreover the actual system is not repeatable in the presence of external disturbances As a solution this paper suggests that the PSO should be applied to the model of a system instead of an actual system Then some modifications are given since the model differs from the actual system According to a range of uncertainty a few nominal models for the system are selected Next the optimal designs are obtained by the PSO in offline In real time the system is estimated to select a model and design the controller Finally the control design is applied to the system Simulation results show the efficiency of the proposed control and its superiority over the sliding mode control

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