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Chaos-based grey wolf optimizer for higher order sliding mode position control of a robotic manipulator

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Abstract

The use of rigid robot manipulators with good performance in industrial applications demands a proper robust and optimized control technique. Several works have proven the efficient use of metaheuristics optimization algorithms to work with complex problems in the robotic area. In this work, it is proposed the use of Grey Wolf Optimizer (GWO) with chaotic basis to optimize the parameters of a robust Higher Order Sliding Modes (HOSM) controller for the position control in joint space of a rigid robot manipulator. A total of seven test cases were considered varying the chosen chaotic map, face to the original GWO and the general repeatability of such algorithm is improved using chaotic versions. Also, two cost functions were tested within the HOSM optimization. Simulation results suggest that both algorithm and cost function formulations influence the chaotic map choice. In fact, the chattering problem, presented by HOSM controllers, is reduced when the cost function attempts to minimize the total variation of the control signal.

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Authors and Affiliations

  1. Agricultural School of Jundiaí, Federal University of Rio Grande do Norte UFRN, Macaíba, RN, 59280-000, Brazil

    Josenalde Oliveira

  2. School of Sciences and Technology, University of Trás-os-Montes and Alto Douro, 5000-801, Vila Real, Portugal

    Paulo Moura Oliveira, José Boaventura-Cunha & Tatiana Pinho

  3. INESC TEC - INESC Technology and Science, Campus da FEUP, 4200-465, Porto, Portugal

    Josenalde Oliveira, Paulo Moura Oliveira, José Boaventura-Cunha & Tatiana Pinho

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  1. Josenalde Oliveira
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  2. Paulo Moura Oliveira
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  3. José Boaventura-Cunha
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  4. Tatiana Pinho
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Correspondence to Josenalde Oliveira.

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Oliveira, J., Oliveira, P.M., Boaventura-Cunha, J. et al. Chaos-based grey wolf optimizer for higher order sliding mode position control of a robotic manipulator. Nonlinear Dyn 90, 1353–1362 (2017). https://doi.org/10.1007/s11071-017-3731-7

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  • DOI: https://doi.org/10.1007/s11071-017-3731-7

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