کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Tuning of SMC Parameters for 3-DOF Spatial Parallel Robot Based on Whale Optimization Algorithm

نویسندگان :

Saeed Firuz Bahr Afzal¹ Amir Hossein Hassanabadi²

1- دانشگاه آزاد اسلامی واحد قزوین 2- دانشگاه آزاد اسلامی واحد قزوین

کلمات کلیدی :

Sliding Mode Control،Nonlinear Control،Whale Optimization Algorithm،Parallel Robot

چکیده :

In this paper, a sliding mode controller (SMC) is used to control a three degree of freedom (3-DOF) spatial parallel robot. The SMC controller employed has been investigated as a robust controller against external disturbances and noise. A linear sliding surface has been used for the sliding mode design, and a saturation function has been employed for switching function to reduce chattering. The controller parameters are tuned by the whale optimization algorithm (WOA) and the best parameter values are obtained in order to minimize the tracking error and to reduce the chattering. In a set of simulations, the proposed WOA-tuned SMC is compared with the results of implementing Fuzzy PID controller on this robot. This research and comparison show that by tuning the parameters of the sliding mode controller (SMC) using the WOA method, the tracking error and the chattering can be effectively reduced.