Mutative Scale Chaos Optimization Algorithm and its Application in PID Controller Design of Mobile Robot Systems
Mutative Scale Chaos Optimization Algorithm and its Application in PID Controller Design of Mobile Robot Systems
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DOI：
10.4028/www.scientific.net/amr.179-180.983
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发表时间：
2011-01
期刊：
影响因子：
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通讯作者：
Wen Bai Chen;Ran Gu;Jin Ao Li;Yu Lu
中科院分区：
文献类型：
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作者：
Wen Bai Chen;Ran Gu;Jin Ao Li;Yu Lu
遍历性是混沌系统的显著特征，混沌变量可以用来逼近全局最优点。针对移动的机器人对位置和速度的控制要求，提出了一种基于变尺度混沌优化算法的紧凑PID控制器参数优化策略。介绍了足球机器人系统的运动学模型，讨论了混沌优化PID控制器参数的策略。该方法无需先验知识，能有效地搜索整个参数空间，并根据给定的性能指标找到最优参数。仿真结果表明，该策略是可行和有效的。
Ergodicity is the outstanding character of chaos system, and chaotic variables can be used to approach global optimal point. Aiming at the control requirements for position and speed of mobile robot, a compact PID controller parameters optimization strategy based on mutative scale chaos optimization algorithm is proposed. The Kinematics model of the soccer robot system is introduced, and the strategy of chaos optimization PID controller parameters is discussed. This optimal solution needs no prior knowledge, searches the whole parameter’s space efficiently and finds the optimal parameter, according to the given performance criteria. Simulation results show that this strategy is feasible and effective.