IDEAS home Printed from https://ideas.repec.org/a/hin/complx/1872943.html
   My bibliography  Save this article

Adaptive Inverse Control Based on Kriging Algorithm and Lyapunov Theory of Crawler Electromechanical System

Author

Listed:
  • Guanyu Zhang
  • Yitian Wang
  • Yiyao Fan
  • Chen Chen

Abstract

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.

Suggested Citation

  • Guanyu Zhang & Yitian Wang & Yiyao Fan & Chen Chen, 2018. "Adaptive Inverse Control Based on Kriging Algorithm and Lyapunov Theory of Crawler Electromechanical System," Complexity, Hindawi, vol. 2018, pages 1-12, December.
    • Handle: RePEc:hin:complx:1872943
    DOI: 10.1155/2018/1872943
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/8503/2018/1872943.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/8503/2018/1872943.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2018/1872943?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:1872943. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.