Robot Active Disturbance Rejection Control Based on an Enhanced Pigeon-inspired Optimization
[1]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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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
40
Number of periods:
2019 04
Page number:
4-
Column:
Public date:
2019-07-10
- Title:
- Robot Active Disturbance Rejection Control Based on an Enhanced Pigeon-inspired Optimization
- Keywords:
- Deformable ground mobile robot; ADRC; local optimum; evolutionary game; Pigeon flock optimization
- CLC:
- -
- DOI:
- 10.13705/j.issn.1671-6833.2019.04.012
- Abstract:
- 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
- References:
- -
- Similar References:
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Last Update:
2019-07-29