Page 42 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics

Adaptive Sliding Mode Control of Non-linear Servo Systems With LuGre Friction Model 33

Figure 2.4 Identification of σ 0 = 12.

Figure 2.5 Identification of σ 1 = 2.5.

worm swarm optimization. The glowworm swarm algorithm is first used
to identify both static and dynamic parameters in the LuGre friction model,
and then an adaptive control with sliding mode control and finite-time
adaptive laws (the offline GSO identification results are used as the initial
values for the online adaptation) is designed to guarantee asymptotic con-
vergence of the tracking error and parametric estimation error. Simulation
results show that the proposed method is able to achieve better control and
identification performance.