Advanced Particle Swarm Algorithm for Bicycle Robot Balancing Optimization Control under Constant Speed

Haotian Zhao, Yiyong Sun, Zhang Chen, Ming Liu, Bin Liang

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

The bicycle robot is one of the Single Track Two-wheel robot that its balance control is so important as the forward velocity control. The existing researches on balance control focus on the single-objective control, in reality multiple objectives are required to be considered, that they are not proper for the complicate autonomous control. The multi-objective optimization issue for the bicycle robot with constant forward velocity is studied in this paper. The State-space model is verified based on the nonlinear Euler-Lagrange model. A new fitness function with multiple objectives is proposed for the Advanced Particle Swarm Optimization to tune the gains in the feedback controller. The conventional Lyapunov method is involved in the APSO process. The simulation example prove the validity of the given method in this paper.

源语言英语
主期刊名Proceedings - 2021 36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021
出版商Institute of Electrical and Electronics Engineers Inc.
203-209
页数7
ISBN(电子版)9781665437127
DOI
出版状态已出版 - 28 5月 2021
已对外发布
活动36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021 - Nanchang, 中国
期限: 28 5月 202130 5月 2021

出版系列

姓名Proceedings - 2021 36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

会议

会议36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021
国家/地区中国
Nanchang
时期28/05/2130/05/21

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