Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator

This article proposes a novel hybrid metaheuristic technique based on nonsingular terminal sliding mode controller, time delay estimation method, an extended grey wolf optimization algorithm and adaptive super twisting control law. The fast convergence is assured by controller owing to its inherent nonlinear property no prior knowledge of the robot dynamics required due estimation. proposed determines optimal approximation inertial matrix robot. Moreover, Lyapunov approach overcomes disturbances compensate higher not achievable method. First, relying designed combined with for chattering attenuation. constant gain determined algorithm. Second, law stability theorem improving tracking performance in presence uncertainties disturbances. novelty method lies where parametric needed. obtained using has been tested simulation 3-degrees freedom robotic manipulator trajectory uncertainties. results confirmed effectiveness, robustness superior precision compared classical ones.