物联网系统中改进ICPSO算法的分数阶PID运动控制

Research on the high speed motion control for robot whose trajectory is unknown based on the improving immune clone selection fractional PID

以工作轨迹未知的机器人控制为研究对象,设计了改进型的免疫克隆(ICPSO)分数阶PID控制器,解决"工作轨迹未知条件下"机器人的高速运动控制问题。这种控制方案能较好地抑制工作现场各种不确定性干扰的影响,同时又能确保控制器参数的时刻最优性,且具有一定的自适应性与智能性,适用于运动轨迹时变、由机器人本身去实时识别轨迹的高速工作场合。

Taking the robot control with unknown working trajectory as the research object,an improved immune cloning(ICPSO) fractional-order PID controller was designed to solve the high-speed motion control problem of the robot under the condition of unknown working trajectory.This control scheme can better suppress the influence of various uncertain interferences at the work site,and at the same time ensure the optimality of the parameters of the controller,and has certain adaptability and intelligence,which is suitable for high-speed work where the trajectory is time-varying and the robot itself recognizes the trajectory in real time.