HEPSO-SMC: a sliding mode controller optimized by hybrid enhanced particle swarm algorithm for manipulators.

Zhongwei Liu, Tianyu Zhang, Sibo Huang, He Wang

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Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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4 authors.

Zhongwei LiuSchool of Mechanical Engineering and Automation, University of Science and Technology Liaoning, Anshan, 114051, China.

Tianyu ZhangSchool of Mechanical Engineering and Automation, University of Science and Technology Liaoning, Anshan, 114051, China.

Sibo HuangSchool of Mechanical Engineering and Automation, University of Science and Technology Liaoning, Anshan, 114051, China.

He WangSchool of Mechanical Engineering and Automation, University of Science and Technology Liaoning, Anshan, 114051, China. wanghe@ustl.edu.cn.

Funding

Liaoning Provincial Department of Education Basic Research Projects for Higher Education Institutions LJKZ0301

6 · The paper itself

Abstract

Sliding Mode Controller (SMC) is a controller design method used for control systems, aimed at achieving robust and stable control of systems. To improve the performance of SMC, this paper applies a hybrid enhanced particle swarm optimization algorithm (HEPSO) to optimize the parameters, including [Formula: see text], [Formula: see text], ɛ and [Formula: see text], of SMC (HEPSO-SMC). The HEPSO integrates three strategies: adaptive inertia weightings (AIW), unified factor enhancement (UFE), and global optimal particle training (GOPT). The HEPSO is validated by simulation with CEC2022 which contains twelve benchmark functions, and the results show that the HEPSO is superior to the other variants of the PSO algorithm in terms of convergence speed and accuracy. The HEPSO-SMC is used as a 2-jointed manipulator for simulation verification. The simulation results, which are compared to PSO-SMC, IPSO-SMC, and UPS-SMC, are shown to illustrate the effectiveness and robustness of the HEPSO-SMC.

Indexed as

CEC2022ManipulatorParameter optimizationParticle swarm optimizationSliding mode controller

Identifiers

PMID40360532

DOI10.1038/s41598-025-00728-6

PMCPMC12075471

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LicenceCC BY-NC-ND

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.