Optimal GA based SMC with adaptive PID sliding surface for robot manipulator

摘要

Different types of robotic manipulator controllers are developed to acquire dynamic properties and improve the global stability. In this paper a control strategy for robotic manipulator based on the coupling of the Artificial Neuro Fuzzy Inference System (ANFIS) with sliding mode control (SMC) approach has been presented. Initially, the Proportional Integral Derivative (PID) controller has developed for three different control strategies (IATE, ISE and ISTE) using GA. SMC has developed for best optimal criterion by using GA. The main objectives of these controller are to provide stability, good disturbance rejection and small tracking error. Finally, we have trained an ANFIS network, which can generate the adaptive PID control signal to the SMC of robot manipulator. The stability of the system is guaranteed by the checking of the Lyapunov stability theorem. Numerical simulations using the dynamic model of 2 DOF planner rigid robot manipulator with input torque disturbance shows the effectiveness in trajectory tracking problem and disturbance rejection. The simulation results of these controllers are compared with various torque disturbances in terms of path tracking and disturbance rejection. The proposed ANFIS adaptive SMC controller can achieve favorable tracking performance and it is robust with regard to disturbances in input torque.