Adaptive Control of Mechanical Servo System with Glowworm Swarm Friction Identification

被引：0
|
作者：
Tao Liang [1 ]
Chen Qiang [1 ]
Nan Yurong [1 ]
Yu Suhua [1 ]
Sun Guofa [2 ]
机构：
[1] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou 310023, Zhejiang, Peoples R China
[2] Qingdao Technol Univ, Coll Automat Engn, Qingdao 266520, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
Mechanical servo system; LuGre friction; glowworm swarm optimization; adaptive control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3132 / 3138
页数：7
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