Development of a Robotics and Sliding Mode Controller for Industrial Automation

Abstract

This research focuses on designing technique to assess how well systems like shank-foot orthoses, inchworm robots,
advanced heavy water reactors, and autonomous underwater vehicles perform . A solid foundation in a variety of fields
is necessary to fully understand the intricacies of robotics and other complex nonlinear processes; Think about
computer science, mathematics, mechanical engineering, industrial engineering, electrical engineering, control
engineering, and instrumentation engineering. As a result, the research extends beyond the typical engineering
boundaries. Designing the system's velocity, true location, and acceleration. In order to operate the manipulator of the
inchworm robot, the second contribution presents the Grey Wolf-Second order Sliding Mode operate (GW SoS MC).
By using the weighting function in GW-SoS MC, this method improves the control capabilities of SoS MC and lessens
the chattering problem of SMC.