| Popis: |
In this study, sliding mode controller (SMC) with PID surface is designed for the trajectory tracking control of robot manipulator using antlion optimization algorithm (ALO) compared with another technique called gray wolf optimizer (GWO). The idea is to determine optimal parameters (Kp, Ki, Kd, and lamda) ensuring best performance of robot manipulator system minimizing the integral time absolute error (ITAE) criterion or the integral time square error (ISTE) criterion; the modeling and the control of the robot manipulator were realized in MATLAB environment. The simulation results prove the superiority of ALO in comparison with GWO algorithm. |
