A Second-Order Sliding Mode Controller Tuning Employing Particle Swarm Optimization

Mahfoudhi, Sami; Khodja, Mohammed; Mahroogi, Faisal O.

doi:10.22266/ijies2020.0630.20

Cited by 3 publications

(3 citation statements)

References 17 publications

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“…The second problem is the controller design for the drone. In this regard, many attempts have been reported in the literature for various types of controllers that depend on different types of mathematical models and tuning control methodologies to control the attitude and altitude of drones in order to solve the problem of the drone stabilization in a desired location and orientation during flying [7]. Therefore, some of the researchers have focused on flight path planning.…”

Section: Introductionmentioning

confidence: 99%

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Airborne Computer System Based Collision-Free Flight Path Finding Strategy Design for Drone Model

2021

IJIES

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Section: Introductionmentioning

confidence: 99%

“…In [5], a modified adaptive sliding mode control for trajectory tracking of mini-drone was presented for enhancing the performance of the mini-drone motion control. In addition, in [7] a second-order sliding mode controller with PSO tuning control algorithm was presented for achieving the desired altitude and attitude of the drone.…”

Section: Introductionmentioning

confidence: 99%

Airborne Computer System Based Collision-Free Flight Path Finding Strategy Design for Drone Model

2021

IJIES

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“…In addition, feature optimization with PSO was implemented to obtain the minimum necessary error for the location in the joints, and to improve the performance quality in the final of end effector response and the robot stability. Simulations and testing have been used to demonstrate that PSO can effectively determine the coefficients for the switching sliding control and PID control [8].…”

Section: Introductionmentioning

confidence: 99%

Design Stable Controller for PUMA 560 Robot with PID and Sliding Mode Controller Based on PSO Algorithm

Akkar¹,

Haddad²

2020

IJIES

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The most significant challenge facing the researcher in the field of robotics is to control the robot manipulator with appropriate overall performance. This paper focuses mainly on the novel Intelligent Particle Swarm Optimization (PSO) algorithm that was used for optimizing and tuning the gain of conventional Proportional Integral Derivative (PID), and improve the parameters of dynamic design in Sliding Mode Control (SMC), which is considered a strong nonlinear controller for controlling highly nonlinear systems, particularly for multi-degree serial link robot manipulator. Additional modified Integral Sliding Mode Controller (ISMC) was implemented to the design of dynamic system with high control theory of sliding mode controller. Intelligent Particle Swarm Optimization (PSO) algorithm was introduced for developing the nonlinear controller. The algorithm demonstrates superior performance in determining the appropriate gains and parameters value in harmony with robot scheme dynamic layout in order to achieve suitable and stable nonlinear controller, besides reduce the chattering phenomenon. PUMA robot manipulator that was used as study case in this work, shows perfect result in step response, with acceptable steady state, and overshoot, besides, eliminating the disadvantage of chattering in conventional SMC. Matlab / Simulink presents to increase the speed of matrix calculation in forward, inverse kinematics and dynamic model of manipulator. Comparison was made between the proposed method with existing methods. Result shows that integral sliding mode with PSO (ISMC/PSO) gave best result for stable step response, minimum mean square error with best objective function, and stable torque.

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Fuzzy-second order sliding mode control optimized by genetic algorithm applied in direct torque control of dual star induction motor

Boukhalfa

Belkacem

Chikhi

et al. 2022

J. Cent. South Univ.

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A Second-Order Sliding Mode Controller Tuning Employing Particle Swarm Optimization

Cited by 3 publications

References 17 publications

Airborne Computer System Based Collision-Free Flight Path Finding Strategy Design for Drone Model

Airborne Computer System Based Collision-Free Flight Path Finding Strategy Design for Drone Model

Design Stable Controller for PUMA 560 Robot with PID and Sliding Mode Controller Based on PSO Algorithm

Fuzzy-second order sliding mode control optimized by genetic algorithm applied in direct torque control of dual star induction motor

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