scholarly journals Robust Tracking Control for Multi-rotor UAVs Using Sliding Mode Control

2014 ◽  
Vol 50 (2) ◽  
pp. 170-176 ◽  
Author(s):  
Kazuki UMEMOTO ◽  
Takuya IKEDA ◽  
Fumitoshi MATSUNO
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Mode Control

scholarly journals Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142098152
Author(s):  
Ayad Q Al-Dujaili ◽  
Alaq Falah ◽  
Amjad J Humaidi ◽  
Daniel A Pereira ◽  
Ibraheem K Ibraheem
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Dynamic Performance ◽  
Control Design ◽  
Design Parameters ◽  
Robust Tracking Control ◽  
Mode Control ◽  
Manipulator Design

This article presents a tracking control design for two-link robot manipulators. To achieve robust tracking control performance, a super-twisting sliding mode control (STSMC) is derived. The stability of the system based on the proposed approach is proved based on the Lyapunov theorem. However, one problem with the designed STSMC is to properly set its parameters during the design. Therefore, it is proposed a social spider optimization (SSO) to tune these design parameters to improve the dynamic performance of the robot manipulator controlled considering STSMC. The performance of the STSMC approach based on SSO is compared to that based on particle swarming optimization (PSO) in terms of dynamic performance and robustness characteristics. The effectiveness of the proposed optimal controllers is verified by simulations within the MATLAB software. It is verified that the performance given by SSO-based STSMC outperforms that resulting from PSO-based STSMC. The experimental results are conducted based on LabVIEW 2019 software to validate the numerical simulation.

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