基于改进群算法的分数阶比例积分导数神经模糊自适应两足机器人设计

IF 0.7 Q3 ENGINEERING, MULTIDISCIPLINARY

Engineering Review Pub Date : 2023-01-01 DOI:10.30765/er.1916

Mustafa Wassef, Nizar Hadi

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引用次数: 0

摘要

针对两足机器人(TLR)，提出了一种基于分数阶比例-积分-导数(ANFFOPID)自适应神经模糊控制器和改进的黏菌算法(ISMA)，以实现关节电机角位移误差最小。由于FOPID控制器的增益设置，实现这样的误差被认为是一个具有挑战性和耗时的过程。因此，采用神经模糊网络通过自适应幅度增益提供FOPID输入信号。自适应机制依赖于ISMA来训练神经网络权值。通过将ANFFOPID控制器与现有基于神经网络的改进混沌入侵杂草优化算法(MCIWO-NN)进行比较，评价了ANFFOPID控制器在平面、上楼梯和下楼梯等多种步行地形下的优异性能。最后，仿真结果表明了ANFFOPID控制器的有效性。

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An adaptive neuro-fuzzy based on a fractional-order proportional integral derivative design for a two-legged robot with an improved swarm algorithm

In this paper, an adaptive neuro-fuzzy based on fractional-order proportional-integral-derivative (ANFFOPID) controller with an improved slime mould algorithm (ISMA) for the two-legged robot (TLR) is proposed to achieve the minimum angular displacement error of the joint motors. Achieving such error is considered a challenging and time-consuming process due to the gain values set for the FOPID controller. Thus the neural-fuzzy network is used to provide the FOPID input signals by the adaptive magnitude gains. The adaptive mechanism depends on the ISMA to train the neural network weights. The outstanding properties of the ANFFOPID controller are evaluated by comparing the proposed controller with other existing work that is modified chaotic invasive weed optimization based on neural network (MCIWO-NN) for various walking terrains that are flat surface, stair ascending, and stair descending. Finally, the results obtained show the effectiveness of the ANFFOPID controller.

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来源期刊

Engineering Review ENGINEERING, MULTIDISCIPLINARY-

CiteScore

1.00

自引率

0.00%

发文量

期刊介绍： Engineering Review is an international journal designed to foster the exchange of ideas and transfer of knowledge between scientists and engineers involved in various engineering sciences that deal with investigations related to design, materials, technology, maintenance and manufacturing processes. It is not limited to the specific details of science and engineering but is instead devoted to a very wide range of subfields in the engineering sciences. It provides an appropriate resort for publishing the papers covering prior applications – based on the research topics comprising the entire engineering spectrum. Topics of particular interest thus include: mechanical engineering, naval architecture and marine engineering, fundamental engineering sciences, electrical engineering, computer sciences and civil engineering. Manuscripts addressing other issues may also be considered if they relate to engineering oriented subjects. The contributions, which may be analytical, numerical or experimental, should be of significance to the progress of mentioned topics. Papers that are merely illustrations of established principles or procedures generally will not be accepted. Occasionally, the magazine is ready to publish high-quality-selected papers from the conference after being renovated, expanded and written in accordance with the rules of the magazine. The high standard of excellence for any of published papers will be ensured by peer-review procedure. The journal takes into consideration only original scientific papers.