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Design of robust fractional order fuzzy PID sliding mode controller based on hybrid swarm intelligence algorithm for a 6-DOF robotic manipulator

Published online by Cambridge University Press:  07 February 2025

Oguzhan Karahan  and
Hasan Karci Open the ORCID record for Hasan Karci [Opens in a new window]
Oguzhan Karahan
Affiliation:
Department of Electronics and Communications Engineering, Kocaeli University, Kocaeli, Turkey
Hasan Karci*
Affiliation:
Department of Electronics and Communications Engineering, Kocaeli University, Kocaeli, Turkey
*
Corresponding author: Hasan Karci; Email: hsnkarci06@gmail.com
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Abstract

In this paper, fractional-order (FO), intelligent, and robust sliding mode control (SMC) and stabilization of inherently nonlinear, multi-input, multi-output 6-DOF robot manipulators are investigated. To ensure robust control and better performance of the robot system, significant studies on various control transactions have been explored. First, a sliding proportional-integral-derivative (PID) surface is conceived and then its FO constitute is developed. It is an important fact that in SMC, the reaching phase is fast and the chattering is abated in the sliding phase. In particular, the discontinuity in the SMC is prevented in view of the boundary layer obtained by recommending the sigmoid function together with fuzzy logic to eliminate the chattering phenomenon. A hybrid tuning method consisting of gray wolf optimization and particle swarm optimization (GWO-PSO) algorithms is applied to tune the parameters of PID sliding mode control (PIDSMC), FO PIDSMC (FOPIDSMC), fuzzy PIDSMC (FPIDSMC), and FO fuzzy PIDSMC (FOFPIDSMC) controllers. In simulation results, the tuned FOFPIDSMC controller consistently outperforms PIDSMC, FOPIDSMC, and FPIDSMC controllers tuned by the GWO-PSO in dynamic performance, trajectory tracking, disturbance rejection, and mass uncertainty scenarios. It has been seen through a thorough performance analysis that 91.93% and 44.13% improvement are, respectively, obtained for mean absolute error (MAE) and torques root mean square (RMS) values of the joints when using from the PIDSMC to the FOFPIDSMC. Finally, the simulation outcomes reveal the superior aspects of the designed FOFPIDSMC and also demonstrate that the FOFPIDSMC controller enhances the dynamic performances of the 6-revolute universal robots 5 (6R UR5) robot manipulator under a variety of operating conditions.

Keywords

6-DOF robotic manipulatorswarm intelligence algorithmsliding modecontrolfuzzy logicfractional order

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 3 , March 2025 , pp. 1110 - 1139
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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