狼群算法优化自抗扰控制器的应用

Application of Wolf Pack Algorithm Optimized Active Disturbance Rejection Controller

为了探讨自抗扰控制器(ADRC)参数整定的新方法,以基于ADRC的机器人无标定手眼协调控制系统为研究对象,将狼群算法应用于该系统的仿真实验中,编写了狼群算法的Matlab程序,结合控制系统的Simulink模型,完成了从机器人执行器三维空间到视觉图像二维平面的转换,仿真结果证明狼群算法能寻找到控制器参数的最优组合,以较高的精度实现了六自由度机器人对目标的跟踪运动。

In order to explore new ways of tuning parameters of Active Disturbance Rejection Controller（ADRC）,robotic uncalibrated hand-eye coordination control system based on ADRC is studied. The wolf pack algorithm is applied to the simulation of the system. A Matlab program of the wolf pack algorithm is written and combined with the simulink model of the control system. The conversion of robot actuator three-dimensional space to a visual images two-dimensional plane is completed. Simulation results show that wolf pack algorithm can find the optimal combination of controller parameters and achieve the target tracking motion of a six degrees of freedom robot with high accuracy.