Grey Wolf Optimization-Based Second Order Sliding Mode Control for Inchworm Robot

Abstract

SUMMARY The flexible motion of the inchworm makes the locomotion mechanism as the prominent one than other limbless animals. Recently, the application of engineering greatly assists the inchworm locomotion to be applicable in the robotic mechanism. Due to the outstanding robustness, sliding mode control (SMC) has been validated as a robust control strategy for diverse types of systems. Even though the SMC techniques have made numerous achievements in several fields, some systems cannot be comfortably accepted as the general SMC approaches. Accordingly, this paper develops the Grey Wolf-Second order sliding mode control (GW-SoSMC) to control the manipulator of the inchworm robot. The GW-SoSMC reduces the chattering phenomenon of SMC and improves the controlling ability of SoSMC by weightage function. Subsequently, it compares the performance of the proposed method with several conventional techniques like Grey Wolf-SMC (GW-SMC), FireFly-SoSMC (FF-SoSMC), Artificial Bee Colony-SoSMC (ABC-SoSMC), Group Searching-SoSMC (GS-SoSMC), and Genetic Algorithm-SoSMC (GA-SoSMC). It portrays the valuable comparative analysis by measuring the accomplished joint angles, error, and response of the controller. Thus the proposed method discovers the supervisory controller for the inchworm robot that is immensely better than conventional controllers mentioned earlier.

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