Parameter Tuning of Discontinues Lyapunov Based Controller Based on the Gray Wolf Optimization Algorithm Applied to a Robotic Manipulator

Abstract

This study investigates designing a controller that can be implemented into the nonlinear 2 Degree of Freedom (2-DOF) robotic arm. In order to reveal the effectiveness and robustness of a controller, Proportional Integral Derivative with gravity compensation controller, and discontinuous Lyapunovbased controller have been utilized, and compared. The gain tunning of the controllers has been carried out using two metaheuristic methods: Grey Wolf optimization (GWO) and Grasshopper optimization Algorithm (GOA). Results of the simulations demonstrate that the Discontinuous Lyapunov-Based controller tuned by GWO, provides more accurate results. Evaluations of Integral Absolute Error (IAE) and Integral Absolute Change in Control Output (IACCO) have been used to study the manipulator’s performance during the simulations.