TY - JOUR
T1 - Optimization of sliding mode control to save energy in a SCARA robot
AU - Soriano, Luis Arturo
AU - Rubio, José de Jesús
AU - Orozco, Eduardo
AU - Cordova, Daniel Andres
AU - Ochoa, Genaro
AU - Balcazar, Ricardo
AU - Cruz, David Ricardo
AU - Meda-Campaña, Jesus Alberto
AU - Zacarias, Alejandro
AU - Gutierrez, Guadalupe Juliana
N1 - Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2021/12/1
Y1 - 2021/12/1
N2 - Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces.
AB - Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces.
KW - Bat algorithm
KW - Energy
KW - Optimization
KW - SCARA robot
KW - Sliding mode
UR - http://www.scopus.com/inward/record.url?scp=85121317671&partnerID=8YFLogxK
U2 - 10.3390/math9243160
DO - 10.3390/math9243160
M3 - Artículo
AN - SCOPUS:85121317671
SN - 2227-7390
VL - 9
JO - Mathematics
JF - Mathematics
IS - 24
M1 - 3160
ER -