Enhanced Fireworks Algorithm-Auto Disturbance Rejection Control Algorithm for Robot Fish Path Tracking Article Swipe
Xiaoru Song
,
Song Gao
,
Chaobo Chen
,
Zepeng Gao
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.15837/ijccc.2019.3.3547
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.15837/ijccc.2019.3.3547
The robot fish is affected by many unknown internal and external interference factors when it performs path tracking in unknown waters. It was proposed that a path tracking method based on the EFWA-ADRC (enhanced fireworks algorithmauto disturbance rejection control) to obtain high-quality tracking effect. ADRC has strong adaptability and robustness. It is an effective method to solve the control problems of nonlinearity, uncertainty, strong interference, strong coupling and large time lag. For the optimization of parameters in ADRC, the enhanced fireworks algorithm (EFWA) is used for online adjustment. It is to improve the anti-interference of the robot fish in the path tracking process. The multi-joint bionic robot fish was taken as the research object in the paper. It was established a path tracking error model in the Serret-Frenet coordinate system combining the mathematical model of robotic fish. It was focused on the forward speed and steering speed control rate. It was constructed that the EFWA-ADRC based path tracking system. Finally, the simulation and experimental results show that the control method based on EFWAADRC and conventional ADRC makes the robotic fish track the given path at 2:8s and 3:3s respectively, and the tracking error is kept within plus or minus 0:09m and 0:1m respectively. The new control method tracking steady-state error was reduces by 10% compared with the conventional ADRC. It was proved that the proposed EFWA-ADRC controller has better control effect on the controlled system, which is subject to strong interference.
Related Topics
Concepts
Active disturbance rejection control
Control theory (sociology)
Computer science
Tracking error
Interference (communication)
Robustness (evolution)
Algorithm
Nonlinear system
Artificial intelligence
State observer
Control (management)
Quantum mechanics
Physics
Chemistry
Channel (broadcasting)
Computer network
Gene
Biochemistry
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.15837/ijccc.2019.3.3547
- http://univagora.ro/jour/index.php/ijccc/article/download/3547/1305
- OA Status
- gold
- Cited By
- 6
- References
- 25
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2947685674
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2947685674Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.15837/ijccc.2019.3.3547Digital Object Identifier
- Title
-
Enhanced Fireworks Algorithm-Auto Disturbance Rejection Control Algorithm for Robot Fish Path TrackingWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-05-31Full publication date if available
- Authors
-
Xiaoru Song, Song Gao, Chaobo Chen, Zepeng GaoList of authors in order
- Landing page
-
https://doi.org/10.15837/ijccc.2019.3.3547Publisher landing page
- PDF URL
-
https://univagora.ro/jour/index.php/ijccc/article/download/3547/1305Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://univagora.ro/jour/index.php/ijccc/article/download/3547/1305Direct OA link when available
- Concepts
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Active disturbance rejection control, Control theory (sociology), Computer science, Tracking error, Interference (communication), Robustness (evolution), Algorithm, Nonlinear system, Artificial intelligence, State observer, Control (management), Quantum mechanics, Physics, Chemistry, Channel (broadcasting), Computer network, Gene, BiochemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
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6Total citation count in OpenAlex
- Citations by year (recent)
-
2022: 2, 2021: 2, 2020: 2Per-year citation counts (last 5 years)
- References (count)
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25Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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