OPTIMIZATION OF SLIDING CONTROL PARAMETERS FOR A 3-DOF ROBOT ARM USING GENETIC ALGORITHM (GA)

Abstract

This paper presents a method for optimizing the sliding mode control (SMC) parameter
for a robot manipulator applying a genetic algorithm (GA). The objective of the SMC is to
achieve precise and consistent tracking of the trajectory of the robot manipulator under
uncertain and disturbed conditions. However, the system effectiveness and robustness
depend on the choice of the SMC parameters, which is a difficult and crucial task. To solve
this problem, a genetic algorithm is used to locate the optimal values of these parameters
that gratify the capability criteria. The proposed method is efficient compared with the
conventional SMC and Fuzzy-SMC. The simulation results show that the genetic algorithm
with SMC can achieve better tracking capability and reduce the chattering effect.