Adaptive control of mechanical servo system with glowworm swarm friction identification

In this paper, the parameters identification and control problem is investigated for a mechanical servo system with LuGre friction. First of all, an intelligent glowworm swarm optimization algorithm is developed to identify the friction parameters. Then, an adaptive control based on glowworm swarm o...

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Bibliographic Details
Published in2015 34th Chinese Control Conference (CCC) pp. 3132 - 3138
Main Authors Liang, Tao, Qiang, Chen, Yurong, Nan, Suhua, Yu, Guofa, Sun
Format Conference Proceeding Journal Article
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
Subjects
Adaptive control
Conferences
Convergence
Friction
glowworm swarm optimization
Heuristic algorithms
LuGre friction
Mechanical servo system
Optimization
Parameter estimation
Parameter identification
Particle swarm optimization
Servocontrol
Servomechanisms
Torque
Tracking
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Summary:In this paper, the parameters identification and control problem is investigated for a mechanical servo system with LuGre friction. First of all, an intelligent glowworm swarm optimization algorithm is developed to identify the friction parameters. Then, an adaptive control based on glowworm swarm optimization (AC+GSO) is designed by using a finite-time parameter estimate law to speed up the parameter convergence. Finally, comparative simulations are given to show that the proposed parameters identification technique and adaptive control law are effective with high tracking performance.
Bibliography:ObjectType-Article-2
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SourceType-Conference Papers & Proceedings-2
ISSN:2161-2927
1934-1768
DOI:10.1109/ChiCC.2015.7260123