[1]海星朔,徐炳辉,任羿,等.基于改进鸽群优化的机器人自抗扰控制方法[J].郑州大学学报(工学版),2019,40(04):4.[doi:10.13705/j.issn.1671-6833.2019.04.012]
starfish,Xu Binghui,Ren Yi,et al.Robot Active Disturbance Rejection Control Based on an Enhanced Pigeon-inspired Optimization[J].Journal of Zhengzhou University (Engineering Science),2019,40(04):4.[doi:10.13705/j.issn.1671-6833.2019.04.012]
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基于改进鸽群优化的机器人自抗扰控制方法(
)
《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]
- 卷:
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40
- 期数:
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2019年04期
- 页码:
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4
- 栏目:
-
- 出版日期:
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2019-07-10
文章信息/Info
- Title:
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Robot Active Disturbance Rejection Control Based on an Enhanced Pigeon-inspired Optimization
- 作者:
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海星朔; 徐炳辉; 任羿; 崔京京
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北京航空航天大学
- Author(s):
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starfish；Xu Binghui；Ren Yi；Cui Jingjing
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School of Reliability and Systems Engineering, Beihang University
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- 关键词:
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可变形地面移动机器人; 抗扰控制; 局部最优; 演化博弈; 鸽群最优
- Keywords:
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Deformable ground mobile robot; ADRC; local optimum; evolutionary game; Pigeon flock optimization
- DOI:
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10.13705/j.issn.1671-6833.2019.04.012
- 文献标志码:
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A
- 摘要:
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undefined
提出一种基于演化博弈理论的鸽群优化算法( EGTPIO),用来自动调节自抗扰控制器(ADRC)的参数这种新的组合控制方法可以作为执行机构用来提高可变形地面移动机器人(DGMR)的性能EGTP1O不但保持了鸽群优化(PIo)的优点,而且通过演化博弈过程确定地图和指南针算子与地标算子的执行权重,有效降低局部最优概率,提升ADRC控制器的快速性和稳定性.仿真结果表明: EGTPIO在最优解数量、质量和收敛速度方面的优生使ADRC快速达到稳态,提高DGMR的机动性能
- Abstract:
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In this paper,an evolutionary game theory based pigeon-inspired optimization (EGTPIO) algorithm is proposed to improve the performance of the deformable ground mobile robot (DGMR) by using active disturbance rejection control (ADRC) to control the executing mechanism in DGMR. EGPIO not only keeps the advantage of fast convergence of PIO, but also determines the proportion of the two operators through the process of group evolution. This reduces the probability of results falling into local optimum and improves the speed and stability of ADRC controller. The simulation results show that the superiority of EGPIO in the quantity, quality and convergence speed of optimal solutions makes ADRC reach stable state quickly and improves the maneuverability of DGMR
更新日期/Last Update:
2019-07-29