Abstract
This paper presents a novel sliding mode (NSMC) to control of a 2-DOF robot manipulator based on the extended grey wolf optimizer (EGWO). The PD control approach is not robust against external disturbances compared to the sliding mode control (SMC) method, but SMC is noticeably robust against uncertainties and external disturbances. By using both PD and SMC, a novel control approach is proposed to remove each of the controller’s disadvantages. In this paper, the grey wolf optimizer (GWO) is extended to EGWO algorithm by adding the emphasis coefficients. The GWO, and EGWO then are applied to optimize the proposed control parameters (NSMC-EGWO) which result the optimized NSMC-GWO, and NSMC-EGWO respectively. The stability of the NSMC is proved by Lyapunov theory. The performance of the proposed control method is compared with two other controllers such as SMC and proportional derivative sliding mode control (PDSMC). Numerical simulations completely verified the effectiveness of the proposed control approach.
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Mehran Rahmani received his M.Sc. degree in Mechanical Engineering from University of Tabriz in 2015. He is a Ph.D. candidate in the Department of Mechanical Engineering, University of Wisconsin- Milwaukee. His research interests include nonlinear control, adaptive control, fuzzy control, neural network, and robust control.
Hossein Komijani is a fellow researcher member in Intelligent Systems Laboratory at the Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran. He obtained a master’s degree in control engineering in 2014. His research interests include artificial intelligence, intelligent control, robotics, bio-systems, systems simulation & modeling, and pattern recognition.
Mohammad Habibur Rahman is with the Mechanical and Biomedical Engineering Department, University of Wisconsin- Milwaukee, WI, USA. He received his B.Sc. Engineering (mechanical) degree from Khulna University of Engineering & Technology, Bangladesh in 2001, a Master of Engineering (bio-robotics) degree from Saga University, Japan in 2005, and his Ph.D. in Engineering (bio-robotics) from École de technologie supérieure (ETS), Université du Québec, Canada in 2012. He worked as a postdoctoral research fellow in the School of Physical & Occupational Therapy, McGill University (2012-2014). His research interests are in bio-robotics, exoskeleton robot, intelligent system and control, mobile robotics, nonlinear control, control using biological signals such as electromyogram signals.
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Rahmani, M., Komijani, H. & Rahman, M.H. New Sliding Mode Control of 2-DOF Robot Manipulator Based on Extended Grey Wolf Optimizer. Int. J. Control Autom. Syst. 18, 1572–1580 (2020). https://doi.org/10.1007/s12555-019-0154-x
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DOI: https://doi.org/10.1007/s12555-019-0154-x