Multi-objective design of optimal sliding mode control for trajectory tracking of SCARA robot based on genetic algorithm

[+] Author and Article Information
Wafa Boukadida

Rue Ibn El Jazzar - Monastir Monastir, 4021 4021 Tunisia

Anouar Benamor

Monastir Monastir omran, 5019 Tunisia

Hassani Messaoud

Unité de Recherche d'Automatique, Traitement de Signal et Image (ATSI), Ecole Nationale d'ingénieurs de Monastir Monastir, 5000 Tunisia

1Corresponding author.

ASME doi:10.1115/1.4041852 History: Received April 23, 2018; Revised October 22, 2018


This article focuses on Robust Optimal Sliding Mode Control (ROSMC) law for uncertain discrete robotic systems, which are known by their highly nonlinearities, unmodeled dynamics and uncertainties. The main results of this paper are divided into three phases. In the first phase, in order to design an optimal control law, based on the Linear Quadratic Regulator (LQR), the robotic system is described as a Linear Time Varying (LTV) model. In the second phase, as the performances of the Sliding Mode Control (SMC) greatly depends on the choice of the sliding surface, a novel method based on the resolution of a Sylvester equation is proposed. The compensation of both disturbances and uncertainties is ensured by the Integral Sliding Mode Control (ISMC). Finally, to solve the problem accompanying the LQR synthesis, Genetic Algorithm (GA) is used as an off-line tool to search the two weighting matrices. The main contribution of this paper is to consider a multi-objective optimization problem, which aims to minimize not only the chattering phenomenon but as well other control performances. A novel dynamically aggregated objective function is proposed in such a way the designer is provided, once the optimization is achieved, by a set of non-dominated solutions and then he selects the most preferable alternative}. To demonstrate the efficacy and to show complete performance of the new controller, a Selective Compliance Assembly Robot Arm robot (SCARA) is considered. The results show that the manipulator tracing performance is considerably improved with the proposed control scheme.

Copyright (c) 2018 by ASME
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