Terminal Sliding Mode Control for Multi-degree-of-Freedom Robot Based on Genetic Algorithm

Abstract

According to trajectory tracking of robot, a method of a terminal sliding model controller based on genetic algorithms is presented. By using genetic algorithm to select the optimum parameters of fast terminal sliding mode, the system state variables are guaranteed to reach the sliding mode manifold quickly and stay on it all the time in finite time, and then the trajectory tracking control is realized. A simulation study is made on a two-degree-of-freedom robot system, and the results show that the system has good dynamic performance and good robustness, and the chattering can be effectively eliminated.