Optimization of Sliding Mode Control to Save Energy in a SCARA Robot

Optimization of Sliding Mode Control to Save Energy in a SCARA Robot

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...

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Bibliographic Details
Main Authors: Luis Arturo Soriano, José de Jesús Rubio, Eduardo Orozco, Daniel Andres Cordova, Genaro Ochoa, Ricardo Balcazar, David Ricardo Cruz, Jesus Alberto Meda-Campaña, Alejandro Zacarias, Guadalupe Juliana Gutierrez
Format: Article
Language:English
Published: MDPI AG 2021-12-01
Series:Mathematics
Subjects:
energy
optimization
Bat algorithm
sliding mode
SCARA robot
Online Access:https://www.mdpi.com/2227-7390/9/24/3160

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