Abstract
This paper studies a new fractional-order nonsingular terminal sliding mode control (FTSMC), in which all parameters of controller and observer are optimized by a modified grey wolf optimization (MGWO) technique for robotic manipulator systems. Based on an improved fractional-order terminal sliding surface, the new FTSMC system is designed and the unknown disturbance is estimated by a fractional-order finite-time disturbance observer. The dynamic parameters of manipulator and gains of the controller were optimized with the help of the newly developed MGWO technique via both off-line simulation and on-line experimental optimization learning process. Simulation and experimental results of MGWO optimization and joint positioning for a self-designed manipulator showed the efficacy of the proposed optimization and control schemes.
Highlights
Selecting the best gain values of controller or observer in the control system is very important issue because the control performance of the designed control system is up to the selected gain values
Worst gain values of the control system lead to worst control performance though any higher control algorithm is developed
This study proposes a new fractional-order nonsingular sliding surface that offers faster convergence performance compared with the previous fractional-order nonsingular terminal sliding mode control (FTSMC) systems
Summary
Selecting the best gain values of controller or observer in the control system is very important issue because the control performance of the designed control system is up to the selected gain values. S. Han: Modified Grey-Wolf Algorithm Optimized Fractional-Order Sliding Mode Control for Unknown Manipulators observer is bypassed. To enhance the robustness to the controller over PID control, the fractional-order sliding mode control [27] was developed to improve the integer derivative based SMC systems. This study proposes a new fractional-order nonsingular sliding surface that offers faster convergence performance compared with the previous FTSMC systems. The proposed FTSMC surface avoids the singularity issue and improves convergence control performance comparing with the previous methods. (1) An improved fractional-order sliding mode surface is proposed to enhance the convergence time comparing with the previously studied ones. The successful simulated and experimental parameter optimization procedure showed that joint position tracking worked for the proposed FTSMC surface controller and MGWO technique. The obtained results can be effectively applied to other manipulator control systems with easy realization
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