RISE Feedback Control Design for RLED Robot Manipulator Using Bees Algorithm

In this paper, a Robust Integral of the Sign Error (RISE) feedback controller isdesigned for a Rigid-Link Electrically Driven (RLED) robot manipulator actuatedby direct current DC motor in presence of parametric uncertainties and additivedisturbances. RISE feedback with implicitly learning capability is a continuouscontrol method based on the Lyapunov stability analysis to compensate an additivebounded disturbance and linear in the parametric (LP) and non-linear inparametric (non-LP) uncertain dynamics through the use of a sufficiently large gainmultiplied by an integral signum term. A proper selection of controller gains inpredefined permitted areas for gains leads to reduce convergence time, controleffort and improve the performance. The Bees Algorithm that is a search procedureinspired by the foraging behaviour of honey bees is used to tune the parameters ofthe controller to achieve the convergence. The performance of the proposedcontroller is compared with a PD and neural network based controllers. Simulationresults of a two Rigid-Link Electrically-Driven Robot Manipulator show theadvantages of the proposed controller in terms of the transient and steady stateperformances in comparison with some conventional controllers.

Keywords:

Intrusion Detection System , Support Vector Machine , Classification , Bee colony Algorithm