Page 235 - 2024-Vol20-Issue2

231 | Abdul Zahra & Wali

Fig. 3. Design of Optimal STSMC based on FPGA device.

The parameters of the suggested controller that controlled TABLE I.
the robot manipulator at each link is optimized using Chaotic OPTIMUM PARAMETERS OF THE STSMC BASED ON
PSO algorithm. Fig. 5 demonstrates the fitness function
of both traditional and chaotic PSO techniques within (100) FPGA
iterations at each robot manipulator joint.
The Parameters at each link Classical PSO Chaotic PSO
From Fig. 5, it is clear that the Chaotic PSO algorithm 139.86 133.01
gives a good optimization than the classical PSO algorithm. c1 144.56 149.14
The optimum parameters of the proposed control method are k1 67.55 112.46
listed in Table (1). Three trajectories are chosen to test the b1 119.39 98.99
effectiveness of the presented controller using FPGA device c2 138.37 95.08
to track the path of the robot manipulator. Two trajectories are k2 67.48 88.21
used to test the quality of the proposed control method based b2
on FPGA device to the robot manipulator expressed as:
PSO algorithm at each link of the robot. The comparison
• q1d = 1 - e-2t2 cos(t), q2,d = 1 - e-2t2 cos(2t) results explain the actual trajectory will effectively close to
• q1d = 1 - cos(t), q2,d = 1 - cos(2t) the desired one using the Chaotic PSO algorithm.
First trajectory results are given in Fig. 6 and these results
demonstrates the desired and actual position controlled by Fig. 7 shows the angular position at each link of the robot
the STSMC based on FPGA using Classical and Chaotic manipulator to track the second trajectory. The results explain
the goodness of the optimal STSMC based on FPGA