针对基本灰狼算法易陷入局部最优、未考虑个体自身经验等问题,本文提出一种基于Tent映射的混合灰狼优化算法(grey wolf optimization algorithm based on particle swarm optimization,简称PSO_GWO).首先,其通过Tent混沌映射产生初始种...针对基本灰狼算法易陷入局部最优、未考虑个体自身经验等问题,本文提出一种基于Tent映射的混合灰狼优化算法(grey wolf optimization algorithm based on particle swarm optimization,简称PSO_GWO).首先,其通过Tent混沌映射产生初始种群,增加种群个体的多样性;其次,采用非线性控制参数,前期递减速度慢,能够增加全局搜索能力,避免算法陷入局部最优,后期收敛因子递减速度快,增加算法局部搜索能力,从而提高整体收敛速度;最后,引入粒子群算法的思想,将个体自身经历过最优值与种群最优值相结合来更新灰狼个体的位置信息,从而保留灰狼个体自身最佳位置信息.为验证该算法的有效性,本文借助9个标准测试函数来与其他三种算法进行对比.实验结果表明,本文提出的算法比其他三种算法在单峰函数和多峰函数上搜索到的最优解更加理想; PSO_GWO算法比IGWO算法(the improved grey wolf optimization algorithm)在计算时间复杂度方面效果较好;同时,随着种群规模增大,PSO_GWO算法收敛值逐渐接近理想值.因此,本文提出的PSO_GWO算法能更快搜索到全局最优解,且鲁棒性更好.展开更多
A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and param...A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.展开更多
A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then ...A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.展开更多
文摘针对基本灰狼算法易陷入局部最优、未考虑个体自身经验等问题,本文提出一种基于Tent映射的混合灰狼优化算法(grey wolf optimization algorithm based on particle swarm optimization,简称PSO_GWO).首先,其通过Tent混沌映射产生初始种群,增加种群个体的多样性;其次,采用非线性控制参数,前期递减速度慢,能够增加全局搜索能力,避免算法陷入局部最优,后期收敛因子递减速度快,增加算法局部搜索能力,从而提高整体收敛速度;最后,引入粒子群算法的思想,将个体自身经历过最优值与种群最优值相结合来更新灰狼个体的位置信息,从而保留灰狼个体自身最佳位置信息.为验证该算法的有效性,本文借助9个标准测试函数来与其他三种算法进行对比.实验结果表明,本文提出的算法比其他三种算法在单峰函数和多峰函数上搜索到的最优解更加理想; PSO_GWO算法比IGWO算法(the improved grey wolf optimization algorithm)在计算时间复杂度方面效果较好;同时,随着种群规模增大,PSO_GWO算法收敛值逐渐接近理想值.因此,本文提出的PSO_GWO算法能更快搜索到全局最优解,且鲁棒性更好.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2012AA041801)supproted by the High-tech Research and Development Program of China
文摘A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.
文摘A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.
