[1]WANG Hu,HU Likun,TAN Ying.A PSO-based global fast terminal sliding mode controllerfor 6-DOF manipulators[J].CAAI Transactions on Intelligent Systems,2017,12(2):266-271.[doi:10.11992/tis.201605024]
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A PSO-based global fast terminal sliding mode controllerfor 6-DOF manipulators

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 12 Number of periods: 2017 2 Page number: 266-271 Column: 学术论文—智能系统 Public date: 2017-05-05
Title:
A PSO-based global fast terminal sliding mode controllerfor 6-DOF manipulators
Author(s):
WANG Hu;  HU Likun;  TAN Ying
College of Electrical Engineering, Guangxi University, Nanning 530004, China
Keywords:
automatic control technology; 6-DOF manipulator; Lyapunov theory; PSO algorithm; global fast terminal sliding mode; control law; chattering
CLC:
TP24
DOI:
10.11992/tis.201605024
Abstract:
In this paper, we propose a global fast terminal sliding mode (GFTSM) control method based on particle swarm optimization (PSO) for the 6-DOF (degrees of freedom) manipulator control system to reduce chattering and improve response times of the system. We divided the multi-input multi-output (MIMO) 6-DOF system into six second-order subsystems, each joint designed and analyzed to overcome the singularity of control law. Further, we demonstrated the stability of our system using Lyapunov theory and optimized the control parameters based on the PSO algorithm. Our simulation results show that the optimized control method not only improves the speed and response times of the system, but also reduces the chattering, thus producing a system with good dynamics and static performance.
References:
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