Evolution Strategy를 이용한 로봇 매니퓰레이터의 슬라이딩 모드 제어

Sliding Mode Control for Robot Manipulator Usin Evolution Strategy

Evolution Strategy is used as an effective search algorithm in optimization problems and Sliding Mode Control is well known as a robust control algorithm. In this paper, we propose a Sliding Mode Control Method for robot manipulator using Evolution Strategy. Evolution Strategy is used to estimate Sliding Mode Control Parameters such as sliding surface gradient, continuous function boundary layer, unknown plant parameters and switching gain. Experimental results show the proposed control scheme has accurate and robust performances with effective search ability.