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 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.