Table 11 Optimal values of algorithm parameters.

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

 

HEPSO-SMC

PSO-SMC

IPSO-SMC

UPS-SMC

\(c_{1}\)

7.9787

5.6752

7.0747

7.0862

\(c_{2}\)

7.8724

6.0151

5.1984

4.9721

\(\varepsilon\)

0.4995

0.7658

0.6115

0.6965

\(k\)

7.5036

5.1823

7.0142

4.1565

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