Model‐free online tuning of controller parameters using a globalized local search algorithm |
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| Authors: | Khurram Butt Nariman Sepehri |
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| Affiliation: | Fluid Power and Telerobotics Research Laboratory, Department of Mechanical Engineering, Faculty of Engineering, University of Manitoba, Winnipeg, Canada |
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| Abstract: | In an earlier work, the authors proposed a globalized bounded Nelder‐Mead algorithm with deterministic restarts and a linearly growing memory vector. It was shown that the algorithm was a favorable option for solving multimodal optimization problems like controller tuning because of the greater probability of finding the global minimum and lesser numerical cost. Therefore, the algorithm was successfully used for model‐based offline tuning of sliding mode controller parameters for a servo‐pneumatic position control application. However, such offline tuning requires a sufficiently adequate system model, which, in some applications, is difficult to attain. Moreover, it is not generally appreciated as an essential requirement for controller tuning by the end user like the industry. An improvement in performance of optimization algorithm for tuning is expected if it relies on measurements coming directly from an actual physical system and not just its mathematical model. Therefore, in this paper, we apply the aforementioned algorithm for model‐free online optimization of controller parameters. The application involves the programmatic control of a real‐time interface of a physical system by the algorithm for data flow and logical decisions for optimization. For comparison with the results of the model‐based offline tuning suggested in earlier work, the sliding mode controller parameters are tuned online for the same position control application. The experimental results reveal that the system performance with controller parameters tuned online using the algorithm compares favorably to the one with model‐based offline tuning especially at higher priority level for accuracy. The improvement in system performance amounts to 21%. |
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| Keywords: | online controller optimization servo‐pneumatic position control sliding mode controller |
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