Adaptive Inverse Control Based on Kriging Algorithm and Lyapunov Theory of Crawler Electromechanical System
Joint Authors
Zhang, Guanyu
Wang, Yitian
Fan, Yiyao
Chen, Chen
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-02
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
The electromechanical system of a crawler is a multi-input, multioutput strongly coupled nonlinear system.
In this study, an adaptive inverse control method based on kriging algorithm and Lyapunov theory is proposed to improve control accuracy during adaptive driving.
The electromechanical coupling model of the electromechanical system is established on the basis of the dynamic analysis of the crawler.
In accordance with the kriging algorithm, the inverse model of the electromechanical system of the crawler is established by offline data.
The adaptive travel control law of the crawler is obtained on the basis of Lyapunov theory.
Combined with the kriging algorithm, the adaptive driving reverse control method is designed, and the online system is used to update and perfect the inverse system model in real time.
Finally, the virtual prototype model of the crawler is established, and the control effect of the adaptive inverse control method is verified by theoretical analysis and virtual prototype simulation.
American Psychological Association (APA)
Zhang, Guanyu& Wang, Yitian& Fan, Yiyao& Chen, Chen. 2018. Adaptive Inverse Control Based on Kriging Algorithm and Lyapunov Theory of Crawler Electromechanical System. Complexity،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1133032
Modern Language Association (MLA)
Zhang, Guanyu…[et al.]. Adaptive Inverse Control Based on Kriging Algorithm and Lyapunov Theory of Crawler Electromechanical System. Complexity No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1133032
American Medical Association (AMA)
Zhang, Guanyu& Wang, Yitian& Fan, Yiyao& Chen, Chen. Adaptive Inverse Control Based on Kriging Algorithm and Lyapunov Theory of Crawler Electromechanical System. Complexity. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1133032
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1133032