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具有双向操纵机构的两轮机器的细菌觅食优化PID控制。

Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism.

作者信息

Goher K M, Fadlallah S O

机构信息

Department of Informatics and Enabling Technologies, Lincoln University, Lincoln, New Zealand.

Mechanical Engineering Department, Auckland University of Technology, Auckland, New Zealand.

出版信息

Robotics Biomim. 2017;4(1):1. doi: 10.1186/s40638-017-0057-3. Epub 2017 Mar 23.

DOI:10.1186/s40638-017-0057-3
PMID:28392992
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5364270/
Abstract

This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical model, derived using Lagrangian modeling approach, is simulated in MATLAB/Simulink environment. Bacterial foraging-optimized PID control with decoupled nature is designed and implemented. Various working scenarios with multiple initial conditions are used to test the robustness and the system performance. Simulation results revealed the effectiveness of the bacterial foraging-optimized PID control method in improving the system performance compared to the PID control scheme.

摘要

本文介绍了在一种具有双向操纵机构的五自由度两轮机器人机器的PID控制方案上利用细菌觅食优化算法的性能。所研究的系统为需要有限空间工作环境的工业机器人应用提供了解决方案。使用拉格朗日建模方法推导的系统非线性数学模型在MATLAB/Simulink环境中进行了仿真。设计并实现了具有解耦特性的细菌觅食优化PID控制。使用具有多个初始条件的各种工作场景来测试系统的鲁棒性和性能。仿真结果表明，与PID控制方案相比，细菌觅食优化PID控制方法在提高系统性能方面是有效的。

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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/11ea/5364270/dd2180bb3c7b/40638_2017_57_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/11ea/5364270/a188f5c898f5/40638_2017_57_Fig9_HTML.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/11ea/5364270/828f7d0cf8a2/40638_2017_57_Fig11_HTML.jpg
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本文引用的文献

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Robotics Biomim. 2016;3(1):17. doi: 10.1186/s40638-016-0049-8. Epub 2016 Oct 13.
2
Linear control of the flywheel inverted pendulum.飞轮倒立摆的线性控制
ISA Trans. 2014 Sep;53(5):1396-403. doi: 10.1016/j.isatra.2013.12.030. Epub 2014 Jan 28.
具有双向操纵机构的两轮机器的比例积分微分控制、基于细菌觅食优化算法的比例积分微分控制和比例微分模糊逻辑控制器控制：一项比较研究。
Robotics Biomim. 2018;5(1):6. doi: 10.1186/s40638-018-0089-3. Epub 2018 Nov 3.