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Sliding Mode Control with PID Surface for Robot Manipulator Optimized by Evolutionary Algorithms

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Recent Advances in Engineering Mathematics and Physics

Abstract

In this study, sliding mode controller (SMC) with PID surface is designed for the trajectory tracking control of robot manipulator using antlion optimization algorithm (ALO) compared with another technique called gray wolf optimizer (GWO). The idea is to determine optimal parameters (Kp, Ki, Kd, and lamda) ensuring best performance of robot manipulator system minimizing the integral time absolute error (ITAE) criterion or the integral time square error (ISTE) criterion; the modeling and the control of the robot manipulator were realized in MATLAB environment. The simulation results prove the superiority of ALO in comparison with GWO algorithm.

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Author information

Authors and Affiliations

  1. Université 8 Mai 1945, Guelma, Algeria

    Fatiha Loucif

  2. Laboratoire d’Automatique et Informatique de Guelma LAIG, Guelma, Algeria

    Sihem Kechida

Authors
  1. Fatiha Loucif
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  2. Sihem Kechida
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Corresponding author

Correspondence to Fatiha Loucif .

Editor information

Editors and Affiliations

  1. Faculty of Engineering, Cairo University, Giza, Egypt

    Mohamed Hesham Farouk

  2. Faculty of Engineering, Cairo University, Giza, Egypt

    Maha Amin Hassanein

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Loucif, F., Kechida, S. (2020). Sliding Mode Control with PID Surface for Robot Manipulator Optimized by Evolutionary Algorithms. In: Farouk, M., Hassanein, M. (eds) Recent Advances in Engineering Mathematics and Physics. Springer, Cham. https://doi.org/10.1007/978-3-030-39847-7_2

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