Work

Firefly Algorithm Optimization of Manipulator Robotic Control Based on Fast Terminal Sliding Mode

Year: 2023

Type: article

Abstract: In this paper a new algorithm of optimization in the field of manipulator robotic control is presented. The proposed control approach based on fast terminal sliding mode control (FTSMC) in order to guarantee the convergence of the position articulations errors to zero in finite time without chattering phenomena, and the firefly algorithm in order to generate the optimal parameters that ensure minimum reaching time and mean square error and achieve better performances, whose ensure the asymptotic stability of the system using a Lyapunov candidate in presence of disturbances. The simulations are applied on a two-link robotic manipulator with different tracking references by using Matlab/ Simulink , results show the efficiency and confirm the robustness of the proposed control strategy.

Source: Journal of Automation Mobile Robotics & Intelligent Systems

DOI: 10.14313/jamris/4-2022/32

Authors: Ali Mallem, Fouzi Douak, Beneziza Walid, Bounouara Asma

Institutions: Abbès Laghrour University of Khenchela, University of Batna 2, University of Batna 1

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W4387257366

FWCI: 0.088

Cites: 25

Cited by: 1

Related to: 10