Robust adaptive control of a bio-inspired robot manipulator using bat algorithm

作者：

Highlights：

• A new combined control law (AFOPIDSMC) proposed for chattering reduction.

• We apply an adaptive controller for updating FOPID parameters.

• A bio-inspired bat algorithm used for tuning the proposed controller parameters.

• The stability of the proposed controller is proved by Lyapunov theory.

• The simulation results show the effectiveness of the proposed control.

摘要

•A new combined control law (AFOPIDSMC) proposed for chattering reduction.•We apply an adaptive controller for updating FOPID parameters.•A bio-inspired bat algorithm used for tuning the proposed controller parameters.•The stability of the proposed controller is proved by Lyapunov theory.•The simulation results show the effectiveness of the proposed control.

论文关键词：Caterpillar robot,Fractional PID controller,SMC,Robust control,Adaptive control,Bat algorithm

论文评审过程：Received 12 September 2015, Revised 12 December 2015, Accepted 2 March 2016, Available online 10 March 2016, Version of Record 26 March 2016.

论文官网地址：https://doi.org/10.1016/j.eswa.2016.03.006