Firefly algorithm optimization of manipulator robotic control based on fast terminal sliding mode

• Autorzy: Mallem Ali , Douak Fouzi , Benaziza Walid , Bounouara Asma

Identyfikatory

DOI

10.14313/JAMRIS/4-2022/32

• Języki publikacji: EN

Abstrakty

EN

In this paper a new algorithm of optimization in the field of manipulator robotic control is presented. The proposed control approach is based on fast terminal sliding mode control (FTSMC), in order to guarantee the convergence of the position articulations errors to zero in finite time without chattering phenomena, and the Firefly algorithm in order to generate the optimal parameters that ensure minimum reaching time and mean square error and achieve better performances. This ensures the asymptotic stability of the system using a Lyapunov candidate in the presence of disturbances. The simulations are applied on a two-link robotic manipulator with different tracking references by using Matlab/ Simulink. Results show the efficiency and confirm the robustness of the proposed control strategy.

Słowa kluczowe

EN

manipulator robotic; fast terminal sliding mode; firefly algorithm; Lyapunov stability

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2022
• Tom: Vol. 16, No. 4
• Strony: 44--52
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Mallem Ali

• Industrial Engineering Department, University Abbès Laghrour, Khenchela, Advanced Electronic Laboratory, University of Batna 2, Algeria

autor

Douak Fouzi

• Industrial Engineering Department, University Abbès Laghrour, Khenchela, Algeria

autor

Benaziza Walid

• Advanced Electronic Laboratory, University of Batna 2, Batna, Algeria

autor

Bounouara Asma

• Electronics Department, University of Batna 2, Batna, Algeria

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).