Optimized Sliding Control based on Firefly Algorithm for Rigid Robot Manipulator*

Robot manipulators are used in high accuracy processes they provide flexibility, adaptability, and a large workspace. Hence, in presence of uncertainties, and disturbance, high-performance control approaches are necessary to achieve high tracking precision and transient response under load variation. We present in this paper a novel concept of Non-singular Fast Terminal Sliding Mode Controller (NFTSMC). Two approaches have been developed: Robust Non-singular Fast Terminal Sliding Mode Controller (RNFTSMC) and Robust Optimized Non-singular Fast Terminal Sliding Controller (RONFTSMC). In the first one an additional term called switching signal is add to the equivalent control law. The second one is a combination of (NFTSM) technique, and a Firefly Algorithm (FA) as optimum term. Simulations show that the control strategy can overcome the chattering phenomena ensures the accuracy and stability of the joint robot position control.