Fractional-order Sliding Mode Constraint Control for Manipulator Systems Using Grey Wolf and Whale Optimization Algorithms

This study investigates a new fractional-order nonsingular terminal sliding mode control (FTSMC) leveraging a finite-time extended state observer, a simpler prescribed control, and hybrid grey wolf optimization (GWO) combined with whale optimization algorithm (WOA) for manipulator systems. The new F...

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Bibliographic Details
Published in:International journal of control, automation, and systems Vol. 19; no. 2; pp. 676 - 686
Main Author: Han, Seong-Ik
Format: Journal Article
Language:English
Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.02.2021
Springer Nature B.V
제어·로봇·시스템학회
Subjects:
Algorithms
Control
Engineering
Manipulators
Mechatronics
Optimization
Regular Papers
Robotics
Sliding mode control
State observers
제어계측공학
finite-time extended state observer
Experiemental grey-wolf and whale optimization
manipulator systems
fractional-order nonsingular terminal sliding mode control
sliding mode constraint control
ISSN:1598-6446, 2005-4092
Online Access:Get full text
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Summary:This study investigates a new fractional-order nonsingular terminal sliding mode control (FTSMC) leveraging a finite-time extended state observer, a simpler prescribed control, and hybrid grey wolf optimization (GWO) combined with whale optimization algorithm (WOA) for manipulator systems. The new FTSMC system is based on an improved fractional-order terminal sliding surface. Initially, the study experimentally optimizes the dynamic parameters and gains of the controller and the observer with the help of the newly developed GWO-WOA technique. As the next step, the uncertainties including optimization error and external disturbances are estimated by the finite-time extended state observer designed using the sliding mode dynamics. Experimental results of GWO-WOA optimization and joint position tracking for a self-designed articulated manipulator prove the efficacy of the proposed control scheme.
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http://link.springer.com/article/10.1007/s12555-020-0138-x
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-020-0138-x