Optimized Sliding Mode Control Based on Cuckoo Search Algorithm: Application for 2DF Robot Manipulator

Abstract

Robot manipulators are used in high-accuracy processes they provide flexibility, adaptability, and a large workspace. Hence, in the presence of uncertainties, disturbance, and high-performance control approaches are necessary to improve their accuracy to achieve high-tracking precision requirements and transient response under load variation. We present in this article, a novel concept of robust nonsingular fast terminal sliding mode controller (NFTSMC). In fact, the use of the NFTSMC offers a fast convergence rate, avoids singularities but still suffers from chattering. To overcome this limitation, two approaches have been developed: robust nonsingular fast terminal sliding mode controller (RNFTSMC) and robust optimized nonsingular fast terminal sliding controller (RONFTSMC). In the first one an additional term called switching signal is added to the equivalent control law. The second one is a combination of the NFTSM technique, and a cuckoo search algorithm as optimum term. Simulations show that the control strategy can overcome the chattering phenomena ensures the accuracy and stability of the joint robot position control.