Cooperative Evolution Grey Wolf optimizer Algorithm for the Identification of the LuGre Friction Model in the Cart Motion of an Inverted Pendulum System

Megherbi, Hassina; Megherbi, Ahmed Chaouki; Guesbaya, Mounir

doi:10.1109/ccssp49278.2020.9151664

Cited by 3 publications

(2 citation statements)

References 20 publications

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“…Li et al [37] proposed a novel GA-RBF-ARX method for modeling the complex triple inverted pendulum, providing an efficient solution with parameter optimization using GA and successful validation via MATLAB simulations only, not via experiments. The cooperative evolutionary Grey Wolf Optimizer, as introduced in [38], excels in accurate identifying both static and dynamic parameters of the LuGre friction model, particularly within an inverted pendulum system devoid of the pendulum, leveraging its evolutionary exploration and exploitation capabilities.…”

Section: Introductionmentioning

confidence: 99%

Efficient Identification of Multi-Link Inverted Pendulums via Global Optimization

Ozana,

Slanina,

Deb

et al. 2024

Preprint

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Multi-link inverted pendulum systems pose intricate challenges in control theory and robotics, requiring precise dynamic parameter identification to achieve stability and robustness in control strategy design. We present a novel and efficient experimental identification procedure formulated as an optimization problem based on simple short-term datasets and metaheuristic global optimizers. We use a training dataset for identification and validation dataset to evaluate and analyze the obtained results. The study incorporates three distinct global optimization techniques, namely Stochastic Fractal Search (SFS), Growth Optimizer, and Differential Evolution (DEoptim), selected as candidates to handle the identification of multi-link pendulums and similar extremely demanding optimization jobs to be used when controlling modern mechatronic systems. We illustrate that DEoptim dominates over other global optimizers in several aspects. The proposed identification procedure is innovative, adaptable, and simple, relying solely on selected measurable signals sans further signal processing. Its versatility makes it a valuable tool for parameter identification in diverse domains. The results are supported by experiments with the laboratory triple pendulum setup and simulation experiments on a virtual quadruple inverted pendulum.

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Section: Introductionmentioning

confidence: 99%

Efficient Identification of Multi-Link Inverted Pendulums via Global Optimization

Ozana,

Slanina,

Deb

et al. 2024

Preprint

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“…one is to use the mechanical structure design method to improve the sealing form of the actuator [6][7][8], and the other is to reduce the generation of frictional force based on new material technology and improve the frictional characteristics of the seal [9,10]. The third is to compensate the friction torque from the perspective of control strategy to suppress its influence on the dynamic characteristics of the system [11][12][13][14]. However, it has always been a difficult problem to develop an accurate friction model, and the general friction model  *Correspondence: hitwangxiaojing@163.com 1 School of Mechanical-Electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, Beijing 102616, China.…”

Section: Introduction mentioning

confidence: 99%

Study on Simplified Dynamic Flexible Variable Structure PD Composite Control of Continuous Rotary Motor System Based on Friction Torque Compensation

Wang

Feng

Bai

2022

Preprint

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Aiming at the influence of uncertain nonlinear factors such as frictional interference on the control performance of the continuous rotary electro-hydraulic servo motor system, the motor system model and its friction torque model are established in this paper. Combined with controllers, genetic algorithm is used for parameter tuning, and a simplified dynamic flexible variable structure PD composite control strategy based on friction feedforward compensation is determined. The simulation and experimental results show that the simplified dynamic flexible variable structure PD composite controller can improve the performance of ultra-low speed and high frequency response of continuous rotary electro-hydraulic servo motor, which has better control accuracy.

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RBF Neural Network-Based Output Constrained Control of Servo System with LuGre Friction

Zhao,

Zhou

2023

2023 6th International Conference on Robotics, Control and Automation Engineering (RCAE)

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Cooperative Evolution Grey Wolf optimizer Algorithm for the Identification of the LuGre Friction Model in the Cart Motion of an Inverted Pendulum System

Cited by 3 publications

References 20 publications

Efficient Identification of Multi-Link Inverted Pendulums via Global Optimization

Efficient Identification of Multi-Link Inverted Pendulums via Global Optimization

Study on Simplified Dynamic Flexible Variable Structure PD Composite Control of Continuous Rotary Motor System Based on Friction Torque Compensation

RBF Neural Network-Based Output Constrained Control of Servo System with LuGre Friction

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