郑州大学学报（工学版）2019，Vol.40Issue(4)：20-24,31,6.DOI:10.13705/j.issn.1671-6833.2019.04.012
基于改进鸽群优化的机器人自抗扰控制方法
Robot Active Disturbance Rejection Control Based on an Enhanced Pigeon-inspired Optimization
摘要
Abstract
In this paper, an evolutionary game theory based pigeon-inspired optimization (EGTPIO) algorithm was proposed to automatically tune the parameters of active disturbance rejection control ( ADRC) controllers. The novel approach combining EGTPIO and ADRC was subsequently used to improve the performance of the deformable ground mobile robot ( DGMR) . Based on our design, EGTPIO not only could keep the advantage of fast convergence of PIO, but also determine the proportion of the two operators through the process of group evolution. Thus, the probability of results falling into local optimum was reduced and the speed and stability of the controller was improved. Simulation results showed that the superiority of EGTPIO in the quantity, quality and convergence speed of optimal solutions made ADRC reach stable state quickly and improved the maneuver-ability of DGMR.关键词
可变形地面移动机器人/自抗扰控制/局部最优/演化博弈/鸽群优化Key words
deformable ground mobile robot/ active disturbance rejection control/ local optima/ evolutionary game theory/ pigeon-inspired optimization分类
信息技术与安全科学引用本文复制引用
海星朔,徐炳辉,任羿,崔京京..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(4):20-24,31,6.基金项目
装备预研领域基金资助项目(61400020101) （61400020101）
