OPTIMAL SLIDING MODE CONTROL PARAMETERS FOR MANIPULATOR ROBOT BASED ON BAT ALGORITHM

Tóm tắt

Tradition sliding mode controllers are commonly applied to a wide range of engineering systems, bay the control parameters are primarily selected based on the designer’s experience and fine-tuned through experimentation. Swarm optimization algorithms have demonstrated their advantages in multi-variable and multi-objective problems, and the convergence to a global optimal point has been presented in numerous studies. This paper presents an optimal parameterization method for the sliding mode control using the BAT algorithm (a type of swarm optimization algorithms). Simulation results and comparisions conventional sliding mode control on a manipulator robot system demonstrate the effectiveness of this approach