Fixed-Time Control with an Improved Sparrow Search Algorithm for Robotic Arm Performance Optimization
Year: 2024
Type: article
Abstract: This paper presents an innovative approach that integrates a fixed-time control (FTC) algorithm with an improved sparrow search algorithm (ISSA) to enhance the trajectory tracking accuracy of a two-degree-of-freedom (two-DOF) robotic arm. The FTC algorithm, which incorporates barrier Lyapunov function (BLF) and adaptive neural network strategies, ensures rapid convergence, effective vibration suppression, and the robust handling of system uncertainties and input saturation. The ISSA, inspired by the foraging behavior of sparrows, improves search efficiency through dynamic weight adjustments and chaotic mapping, balancing global and local search capabilities. By optimizing control parameters, ISSA minimizes tracking errors. Simulation results demonstrate that the combined FTC and ISSA approach significantly reduces tracking errors and improves response speed compared to the use of FTC alone, underscoring its potential for achieving high-precision control in robotic arms and offering a promising direction for precise robotic control applications.
Source: Applied Sciences
DOI: 10.3390/app142210096
Institutions: Korea Maritime and Ocean University, Sejong University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,728
OpenAlex ID: W4404076123