New Sliding Mode Control of 2-DOF Robot Manipulator Based on Extended Grey Wolf Optimizer

Abstract

This paper presents a novel sliding mode (NSMC) to control of a 2-DOF robot manipulator based on the extended grey wolf optimizer (EGWO). The PD control approach is not robust against external disturbances compared to the sliding mode control (SMC) method, but SMC is noticeably robust against uncertainties and external disturbances. By using both PD and SMC, a novel control approach is proposed to remove each of the controller’s disadvantages. In this paper, the grey wolf optimizer (GWO) is extended to EGWO algorithm by adding the emphasis coefficients. The GWO, and EGWO then are applied to optimize the proposed control parameters (NSMC-EGWO) which result the optimized NSMC-GWO, and NSMC-EGWO respectively. The stability of the NSMC is proved by Lyapunov theory. The performance of the proposed control method is compared with two other controllers such as SMC and proportional derivative sliding mode control (PDSMC). Numerical simulations completely verified the effectiveness of the proposed control approach.