科技创新与应用2026，Vol.16Issue(15)：35-38,43,5.DOI:10.19981/j.CN23-1581/G3.2026.15.009
基于自适应滑模和多策略黑猩猩优化算法的电缆巡检机器人控制策略设计
摘要
Abstract
Aiming at the problems of insufficient control accuracy and stability degradation of cable inspection robots in complex operating environments and external disturbances,this paper proposes a new intelligent cable inspection robot control strategy based on adaptive sliding mode control strategy and multi-strategy chimpanzee optimization algorithm.First,the control system structure is constructed,and an adaptive adjustment mechanism is introduced to form an adaptive sliding mode control strategy.Then,a multi-strategy mechanism is introduced to form a multi-strategy chimpanzee algorithm.The parameters of the adaptive sliding mode controller are optimized to suppress the chattering phenomenon of sliding mode control.Finally,experimental comparison is carried out,and the results show that the proposed control strategy in this paper has excellent control performance and stability characteristics.关键词
电缆巡检机器人/自适应滑模控制/多策略黑猩猩算法/控制精度/稳定性Key words
cable inspection robot/adaptive sliding mode control/multi-strategy chimpanzee algorithm/control accuracy/stability分类
信息技术与安全科学引用本文复制引用
黄海文,张庚喜,张旭明,沈学飞,左加伟..基于自适应滑模和多策略黑猩猩优化算法的电缆巡检机器人控制策略设计[J].科技创新与应用,2026,16(15):35-38,43,5.基金项目
国网冀北电力有限公司秦皇岛供电公司群众性创新项目(B3010425Z004) （B3010425Z004）
