An optimal sliding mode control based on immune-wavelet algorithm for underwater robotic manipulator

Author

Esfahani, Hossein Nejatbakhsh ; Azimirad, Vahid ; Eslami, Ali ; Asadi, Shahrooz

Author_Institution

Center of Excellence for Mechatron., Univ. of Tabriz, Tabriz, Iran

fYear

2013

fDate

14-16 May 2013

Firstpage

1

Lastpage

6

Abstract

In this paper, a robust optimal Sliding Mode Controller (SMC) based on new algorithm of Artificial Immune System (AIS) is proposed for trajectory tracking of underwater manipulators. A new AIS algorithm is used to derive optimal values of surface parameters and boundary layer thickness in SMC with considering minimum torques and error. Surface parameters and boundary layer thickness are considered as antibody in AIS and Morlet wavelet is used for mutation of them. The simulation results show that the new algorithm is an effective method to optimal control of underwater manipulator and decreases the cost function at least 34% in comparison with conventional SMC method.

Keywords

artificial immune systems; autonomous underwater vehicles; manipulators; optimal control; robust control; trajectory control; variable structure systems; wavelet transforms; AIS; Morlet wavelet; SMC; artificial immune system; boundary layer thickness; cost function; immune-wavelet algorithm; robust optimal sliding mode controller; surface parameter; trajectory tracking; underwater manipulator; underwater robotic manipulator; Drag; Equations; Force; Manipulator dynamics; Mathematical model; Robustness; artificial immune system (AIS); optimal sliding mode controller; robust optimal control; underwater manipulator; wavelet mutation;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering (ICEE), 2013 21st Iranian Conference on

Conference_Location

Mashhad

Type

conf

DOI

10.1109/IranianCEE.2013.6599587

Filename

6599587