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Fractional-order Sliding Mode Constraint Control for Manipulator Systems Using Grey Wolf and Whale Optimization Algorithms

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Abstract

This study investigates a new fractional-order nonsingular terminal sliding mode control (FTSMC) leveraging a finite-time extended state observer, a simpler prescribed control, and hybrid grey wolf optimization (GWO) combined with whale optimization algorithm (WOA) for manipulator systems. The new FTSMC system is based on an improved fractional-order terminal sliding surface. Initially, the study experimentally optimizes the dynamic parameters and gains of the controller and the observer with the help of the newly developed GWO-WOA technique. As the next step, the uncertainties including optimization error and external disturbances are estimated by the finite-time extended state observer designed using the sliding mode dynamics. Experimental results of GWO-WOA optimization and joint position tracking for a self-designed articulated manipulator prove the efficacy of the proposed control scheme.

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Authors and Affiliations

  1. Department of Mechanical System Engineering, Dongguk University Gyeongju Campus, 123 Dongdae-ro, Gyeongju-city, Gyeongsangbuk-do, 38066, Korea

    Seong-Ik Han

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  1. Seong-Ik Han
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Correspondence to Seong-Ik Han.

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Recommended by Associate Editor Kang-Hyun Jo under the direction of Editor-in-Chief Keum-Shik Hong. This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIT) (No. NRF-2018R1A2B6005128) and was supported by the Dongguk University Research Fund of 2019.

Seong-Ik Han received his B.S. and M.S. degrees in mechanical engineering from Pusan National University, Busan, Korea, in 1987 and 1989, respectively, and a Ph. D. in mechanical design engineering from Pusan National University, Busan, in 1995. From 1995 to 2009, he was with Electrical Automation of Suncheon First College, Korea. From 2010 to 2017, he was with the Department of Electronic Engineering, Pusan National University, Korea. Now, he is with the Department of Mechanical System Engineering, Dongguk University Gyeongju Campus, Korea. His research interests include intelligent control, nonlinear control, robotic control, vehicle system control, and steel process control. He is the member of IEEE. He has published 70 papers in the international journals as the first or corresponding author.

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Han, SI. Fractional-order Sliding Mode Constraint Control for Manipulator Systems Using Grey Wolf and Whale Optimization Algorithms. Int. J. Control Autom. Syst. 19, 676–686 (2021). https://doi.org/10.1007/s12555-020-0138-x

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  • DOI: https://doi.org/10.1007/s12555-020-0138-x

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