Design Stable Controller for PUMA 560 Robot with PID and Sliding Mode Controller Based on PSO Algorithm

Abstract

The most significant challenge facing the researcher in the field of robotics is to control the robot manipulator with appropriate overall performance. This paper focuses mainly on the novel Intelligent Particle Swarm Optimization (PSO) algorithm that was used for optimizing and tuning the gain of conventional Proportional Integral Derivative (PID), and improve the parameters of dynamic design in Sliding Mode Control (SMC), which is considered a strong nonlinear controller for controlling highly nonlinear systems, particularly for multi-degree serial link robot manipulator. Additional modified Integral Sliding Mode Controller (ISMC) was implemented to the design of dynamic system with high control theory of sliding mode controller. Intelligent Particle Swarm Optimization (PSO) algorithm was introduced for developing the nonlinear controller. The algorithm demonstrates superior performance in determining the appropriate gains and parameters value in harmony with robot scheme dynamic layout in order to achieve suitable and stable nonlinear controller, besides reduce the chattering phenomenon. PUMA robot manipulator that was used as study case in this work, shows perfect result in step response, with acceptable steady state, and overshoot, besides, eliminating the disadvantage of chattering in conventional SMC. Matlab / Simulink presents to increase the speed of matrix calculation in forward, inverse kinematics and dynamic model of manipulator. Comparison was made between the proposed method with existing methods. Result shows that integral sliding mode with PSO (ISMC/PSO) gave best result for stable step response, minimum mean square error with best objective function, and stable torque.