The optimal design of fractional sliding mode control based on multi-objective genetic algorithms for a two-link flexible manipulator

• Autorzy: Pouya M. , Pashaki P. V.

Identyfikatory

DOI

10.12913/22998624/74134

• Języki publikacji: EN

Abstrakty

EN

In this paper a novel optimal approach of control strategy is introduced by applying fractional calculus in the structure of sliding mode control for a range of dynamics system liable to ambiguity. So, a fractional sliding mode control was designed for dynamics of the two-link rigid-flexible manipulator. Furthermore, a multi-objective genetic algorithm was proposed in order to find the ideal variable structure of the sliding mode control. Optimal variables were achieved by the optimization of the conventional sliding mode control. Then the performance of both the conventional and the fractional sliding mode control were compared with respect to optimal variables. Results indicated that by applying the optimized fractional sliding mode control, the system’s error was significantly reduced consequently tracking the desired value was done with a higher degree of accuracy and a smoother control action was achieved.

Słowa kluczowe

EN

fractional calculations; sliding mode control; two-link flexible manipulator; Pareto optimal; genetic algorithm

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2017
• Tom: Vol. 11, no 3
• Strony: 56--65
• Opis fizyczny: Bibliogr. 24 poz., fig., tab.

Twórcy

autor

Pouya M.

• Department of Mechanical Engineering, University Campus 2, University of Guilan, Rasht, Iran

autor

Pashaki P. V.

• School of Mechanical Engineering, Islamic Azad University, Science and Research Branch of Tehran (Central), Hesarak, Tehran, Iran

Bibliografia

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)