TY - GEN
T1 - Tuning of SMC Parameters for Robotic Manipulator Based on Whale Optimization Algorithm
AU - Du, Meilin
AU - Guo, Zuhua
AU - Meng, Cai
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - A 2-link robotic manipulator is selected as a research instance, a sliding mode control(SMC) law is designed. Parameters tuning of sliding mode controller is converted to a nonlinear optimization problem with the objects of minimizing the trajectory tracking error and eliminating chattering of the control torques. The whale optimization algorithm (WOA) is adopted in this paper to obtain the best parameters of controller, and a comparative study with the results that are searched by particle swarm optimization (PSO) is made. Through simulation of the manipulator, control effects of the parameters obtained by the two optimization methods are compared. Research shows that WOA is a viable optimization method for parameter tuning of sliding mode control of robotic manipulator, and the optimization model proposed in this paper can effectively eliminate the chattering problem of control torques.
AB - A 2-link robotic manipulator is selected as a research instance, a sliding mode control(SMC) law is designed. Parameters tuning of sliding mode controller is converted to a nonlinear optimization problem with the objects of minimizing the trajectory tracking error and eliminating chattering of the control torques. The whale optimization algorithm (WOA) is adopted in this paper to obtain the best parameters of controller, and a comparative study with the results that are searched by particle swarm optimization (PSO) is made. Through simulation of the manipulator, control effects of the parameters obtained by the two optimization methods are compared. Research shows that WOA is a viable optimization method for parameter tuning of sliding mode control of robotic manipulator, and the optimization model proposed in this paper can effectively eliminate the chattering problem of control torques.
KW - Nonlinear Optimization
KW - Robotic Manipulator Control
KW - Sliding Mode Control
KW - Whale Optimization Algorithm
UR - https://www.scopus.com/pages/publications/85077812290
U2 - 10.1109/WRC-SARA.2019.8931806
DO - 10.1109/WRC-SARA.2019.8931806
M3 - 会议稿件
AN - SCOPUS:85077812290
T3 - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
SP - 248
EP - 253
BT - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2019
Y2 - 21 August 2019
ER -