Amin Jalali; Farzin Piltan; Maziyar Keshtgar; Meysam Jalali

Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator

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Author(s)

Amin Jalali ^1,* Farzin Piltan ² Maziyar Keshtgar ³ Meysam Jalali ⁴

1. Department of Maritime Electronic and Communication Engineering, College of Maritime Engineering, Chabahar University, Iran

2. Senior Researcher at Research and Development Unit, Sanatkadehe Sabze Pasargad Company, (S.S.P. Co), Shiraz, Iran

3. Department of Biomedical Engineering, California Polytechnic State University, San Luis Obispo, California

4. Department of Electronic Engineering, University of Sistan and Balouchestan, Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2013.07.07

Received: 15 Oct. 2012 / Revised: 3 Feb. 2013 / Accepted: 16 Apr. 2013 / Published: 8 Jun. 2013

Index Terms

Uncertain Nonlinear Systems, Evolutionary Algorithm, Classical Control, Sliding Mode Controller, Robot Manipulator, Colonial Competitive Algorithm, Optimization

Abstract

One of the best nonlinear robust controllers which can be used in uncertain nonlinear systems is sliding mode controller (SMC), but pure SMC results in chattering in a noisy environment. This effect can be eliminated by optimizing the sliding surface slope. This paper investigates a novel methodology in designing a SMC by a new heuristic search, so called "colonial competitive algorithm "in order to tune the sliding surface slope and the switching gain of the discontinuous part in SMC structure. This process decreases the integral of absolute errors which results in tracking the desired inputs by the outputs in designing a controller for robot manipulator. Simulation results prove that the optimized performance obtained through CCA significantly reduces the chattering phenomena and results in better trajectory tracking compared to typical trial and error methods.

Cite This Paper

Amin Jalali, Farzin Piltan, Maziyar Keshtgar, Meysam Jalali, "Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator", International Journal of Intelligent Systems and Applications(IJISA), vol.5, no.7, pp.50-56, 2013. DOI:10.5815/ijisa.2013.07.07

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International Journal of Intelligent Systems and Applications (IJISA)