Adsorption control of a pipeline robot based on improved PSO algorithm

摘要

Abstract Particle swarm optimization (PSO) is a widely used method that can provide good parameters for the motion controller of mobile robots. In this paper, an improved PSO algorithm that optimize the control PID parameters of a specific robot have been proposed. This paper first presents a brief review of recently proposed PSO methods, and then presents a detailed analysis of the PID optimization algorithm, which uses H∞ theory to reduce the search space and fuses the information entropy to ensure the diversity of particles. Simulations in Matlab show that the algorithm can improve the convergence speed and get a better global optimization ability than the standard PSO algorithm. Experimental results present a sound effects for the control of the negative pressure adsorption motor in the power grid pipeline robot during its adsorption along the circular movements, which verifies the effectiveness of the proposed method.