Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator

Abstract

This article proposes a novel hybrid metaheuristic technique based on nonsingular terminal sliding mode controller, time delay estimation method, an extended grey wolf optimization algorithm and adaptive super twisting control law. The fast convergence is assured by nonsingular terminal sliding mode controller owing to its inherent nonlinear property and no prior knowledge of the robot dynamics is required due to time delay estimation. The proposed extended grey wolf optimization algorithm determines an optimal approximation of the inertial matrix of the robot. Moreover, adaptive super twisting control based on the Lyapunov approach overcomes the disturbances and compensate the higher dynamics not achievable by the time delay estimation method. First, the fast nonsingular terminal sliding mode controller relying on time delay estimation is designed and is combined with super twisting control for chattering attenuation. The constant gain matrix of the time delay is determined by the proposed extended grey wolf optimization algorithm. Second, an adaptive law based on Lyapunov stability theorem is designed for improving tracking performance in the presence of uncertainties and disturbances. The novelty of the proposed method lies in the adaptive law where the prior knowledge of parametric uncertainties and disturbances is not needed. Moreover, the constant gain matrix of time delay estimation method is obtained using the proposed algorithm. The control method has been tested in simulation on a 3-degrees of freedom robotic manipulator in trajectory tracking mode in the presence of control disturbances and uncertainties. The results obtained confirmed the effectiveness, robustness and the superior precision of the proposed control method compared to the classical ones.