A Novel Control Design for Rigid-Link Electrically-Driven Robot Manipulator Using RISE Feedback and Bees Algorithm

In this paper, a Robust Integral of the Sign Error (RISE) feedback controller is designed for a Rigid-Link Electrically Driven (RLED) robot manipulator actuated by direct current DC motor in presence of parametric uncertainties and additive disturbances. RISE feedback with implicitly learning capability is a continuous control method based on the Lyapunov stability analysis to compensate an additive bounded disturbance and linear in the parametric (LP) and non-linear in parametric (non-LP) uncertain dynamics through the use of a sufficiently large gain multiplied by an integral signum term. A proper selection of controller gains in predefined permitted areas for gains leads to reducing convergence time, control effort and improving performance. The Bees Algorithm that is a search procedure inspired by the foraging behavior of honey bees is used to tune the parameters of the controller to achieve the convergence. Simulation results of a two Rigid-Link Electrically-Driven Robot Manipulator verify performance of the designed controller.

Keywords:

Robust Integral of the Sign Error (RISE) feedback , Rigid-Link Electrically Driven (RLED) , Uncertainty , Bees Algorithm