This article presents a tracking control design for two-link robot manipulators. To achieve robust tracking control performance, a super-twisting sliding mode control (STSMC) is derived. The stability of the system based on the proposed approach is proved based on the Lyapunov theorem. However, one problem with the designed STSMC is to properly set its parameters during the design. Therefore, it is proposed a social spider optimization (SSO) to tune these design parameters to improve the dynamic performance of the robot manipulator controlled considering STSMC. The performance of the STSMC approach based on SSO is compared to that based on particle swarming optimization (PSO) in terms of dynamic performance and robustness characteristics. The effectiveness of the proposed optimal controllers is verified by simulations within the MATLAB software. It is verified that the performance given by SSO-based STSMC outperforms that resulting from PSO-based STSMC. The experimental results are conducted based on LabVIEW 2019 software to validate the numerical simulation.

中文翻译：

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机械手最优超扭滑模控制设计：设计与比较研究

本文介绍了一种双连杆机器人机械手的跟踪控制设计。为了实现鲁棒的跟踪控制性能，导出了超扭曲滑模控制（STSMC）。基于Lyapunov定理证明了基于所提出方法的系统的稳定性。然而，设计的 STSMC 的一个问题是在设计过程中正确设置其参数。因此，提出了一种社会蜘蛛优化（SSO）来调整这些设计参数，以提高考虑 STSMC 控制的机器人机械手的动态性能。在动态性能和鲁棒性特征方面，将基于 SSO 的 STSMC 方法的性能与基于粒子群优化 (PSO) 的方法进行比较。所提出的最优控制器的有效性通过 MATLAB 软件内的仿真得到验证。经验证，基于 SSO 的 STSMC 提供的性能优于基于 PSO 的 STSMC。实验结果基于LabVIEW 2019软件进行数值模拟验证。