Optimization methods for tunning of SMC gains for manipulator control: A comparative study

摘要

Cuckoo search algorithm (CSA) and Ant Lion optimization (ALO) algorithm have been explored in this work to optimize the gains of Fractional Order Fuzzy Sliding Mode Proportional Derivative Controller (FOFSMCPD). The controller has been applied to control a highly nonlinear and coupled multi-input multi-output system, i.e. a two link planar rigid robotic manipulator. In present case, the optimization problem is in the form of minimization of weighted summation of integral of absolute error and chattering, for the efficient control of robotic manipulator. On the basis of conducted investigations, it is inferred that FOFSMCPD, tuned by CSA for trajectory tracking shows much better performance than the onetuned by ALO algorithm, for set point tracking, disturbance rejection and noise suppression.