<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In this paper a new algorithm of optimization in the field of manipulator robotic control is presented. The proposed control approach is 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. This ensures the asymptotic stability of the system using a Lyapunov candidate in the 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.</p>
</abstract>

In this paper a new algorithm of optimization in the field of manipulator robotic control is presented. The proposed control approach is 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. This ensures the asymptotic stability of the system using a Lyapunov candidate in the 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.

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

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

In this paper a new algorithm of optimization in the field of manipulator robotic control is presented. The proposed control approach is based on fast terminal...

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

Data publikacji: 20 paź 2023

Zakres stron: 44 - 52

Otrzymano: 18 cze 2022

Przyjęty: 08 sie 2022

DOI: https://doi.org/10.14313/jamris/4-2022/32

Słowa kluczowe
Manipulator robotic, fast terminal sliding mode, firefly algorithm, Lyapunov stability

© 2022 Mallem Ali et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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

Data publikacji: 20 paź 2023

Zakres stron: 44 - 52

Otrzymano: 18 cze 2022

Przyjęty: 08 sie 2022

DOI: https://doi.org/10.14313/jamris/4-2022/32

Słowa kluczoweManipulator robotic, fast terminal sliding mode, firefly algorithm, Lyapunov stability

© 2022 Mallem Ali et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Słowa kluczowe
Manipulator robotic, fast terminal sliding mode, firefly algorithm, Lyapunov stability