Page 32 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics

Adaptive Sliding Mode Control of Non-linear Servo Systems With LuGre Friction Model 23

Table 2.1 Implementation procedure of the GSO algorithm
Step START
1 Initialization
2 t ← 1
∗
3 J(x i (t) ) ←∞
4 For i ← 1tom do
5 Randomly generate solutions(x i (0))
6 J(x i (0)) ← x i (0)
7 l i (0) ← l 0
8 r i (0)← r 0
9 end for
10 main loop
11 repeat
12 update fitness function
13 for i=1tom do
14 J(x i (t)) ← x i (t)
15 end for
16 update luciferin
17 for i=1tom do
18 l i (t) ← (1 − ρ)l i (t − 1) + γJ(x i (t))
19 end for
20 move glowworms
21 for i=1tom do
i
22 N i (t) ←{j : d ij (t)< r (t);l i (t)< l j (t)} Neighborhood(x i (t))
d

23 p ij ← (l j (t) − l i (t)) ( (l (t) − l i (t))) moving probability
k
k∈N i (t)
24 update position and decision region radius
25 for i=1tom do

26 x i (t + 1) ← x i (t) + s((x j (t) − x i (t)) ( x j (t) − x i (t) ))

i
27 r i (t + 1) ← min r s ,max 0,r (t) + β(n t − |N i (t)|)
d
28 end for
29 end for
30 for i=1tom do
31 if Moved(x i (t))= false then
32 x i (t + 1) ← x i (t)
33 end if
∗
34 if J(x i (t)) < J(x i (t) ) then
∗
35 x i (t) ← x i (t)
36 else
∗
37 x i (t) ← x i (t − 1) ∗
38 end if
39 end for
40 Stop condition ← Check stop condition()
41 t ← t+1
42 until stop condition = false
∗
∗
43 return J(x i (t) ), x i (t) ,t