An IPSO approach for sliding mode PID controller for tracking the robot manipulator

In this paper, an optimal sliding mode PID controller is used to improve path tracking of a robot manipulator. In the proposed controlling method, firstly the control input is designed, using inverse dynamic method. Then, in order to overcome unwanted effects of uncertainties, a sliding mode PID controller is proposed and the mathematical proof shows that the closed-loop system is asymptotically stable in the presence of this controller. The proposed controller is improved by applying an improved particle swarm optimization on parameters of sliding mode controller and PID coefficients. The optimized parameters are adjusted in order to decrease the reaching time to the sliding surface and deleting the oscillations of the response. In order to demonstrate the performance of the proposed controller, a 2 DOF robot manipulator is used as the case study. The simulation results confirm the desirable performance of the optimal sliding mode PID controller.

کلیدواژه ها:

Sliding mode control ، Robot manipulator ، PID ، Optimization ، IPSO