Trajectory Tracking Control of a Large Six-DOF Platform Based on Integral-Type Terminal Sliding Mode Control and Bat Algorithm

In this paper, an integral-type terminal sliding mode control (ITSMC) based on an improved reaching law and the bat algorithm (BAT-ITSMC) is proposed for the large six degree of freedom (Six-DOF) platform. The bat algorithm is firstly used to optimize the parameters of the ITSMC. The chattering problem of trajectory tracking for the large Six-DOF platform is difficult to avoid. To deal with the limitation, the integral-type terminal sliding mode surface is used. The utilization of bat algorithm ensures the high efficiency of the parameter optimization. The stability is analyzed by Lyapunov method. Finally, the simulation results are presented to validate the effectiveness and stability of the proposed method.