Identification and control of systems with friction using accelerated evolutionary programming

Author

Kim, Jong-Hwan ; Chae, Hong-Kook ; Jeon, Jeong-Yul ; Lee, Seon-Woo

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

16

Issue

4

fYear

1996

fDate

8/1/1996 12:00:00 AM

Firstpage

38

Lastpage

47

Abstract

This article proposes a novel evolutionary algorithm, called accelerated evolutionary programming (AEP), which improves evolutionary programming in terms of convergence speed and diversity. Comparison between the proposed algorithm and evolutionary programming is carried out for five widely used test functions to show the effectiveness of the proposed algorithm. The proposed algorithm is applied to the identification of a seven-parameter friction model of an X-Y table, which is adopted from the results of tribology studies. Based on the identified friction model, a compensator is designed for the control of the X-Y table without stick-slip motion at very low velocity. Experimental results on the X-Y table demonstrate the effectiveness of the proposed scheme, especially for very-low-speed tracking

Keywords

compensation; force control; friction; genetic algorithms; identification; position control; torque control; X-Y table; accelerated evolutionary programming; compensator; convergence speed; identification; seven-parameter friction model; test functions; tribology studies; very-low-speed tracking; Acceleration; Control systems; Convergence; Evolutionary computation; Friction; Functional programming; Genetic programming; Motion control; Testing; Tribology;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.526914

Filename

526914