[1]廖煜雷,刘鹏,王建,等.基于改进人工鱼群算法的无人艇控制参数优化[J].哈尔滨工程大学学报,2014,(07):800-806.[doi:10.3969/j.issn.1006-7043.201306066]
 LIAO Yulei,LIU Peng,WANG Jian,et al.Control parameter optimization for the unmanned surface vehicle with the improved artificial fish swarm algorithm[J].hebgcdxxb,2014,(07):800-806.[doi:10.3969/j.issn.1006-7043.201306066]
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基于改进人工鱼群算法的无人艇控制参数优化
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2014年07期
页码:
800-806
栏目:
出版日期:
2014-07-25

文章信息/Info

Title:
Control parameter optimization for the unmanned surface vehicle with the improved artificial fish swarm algorithm
作者:
廖煜雷1 刘鹏1 王建1 张铭钧12
1. 哈尔滨工程大学 水下机器人技术重点实验室, 黑龙江 哈尔滨 150001;
2. 哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
Author(s):
LIAO Yulei1 LIU Peng1 WANG Jian1 ZHANG Mingjun12
1. National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China;
2. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
人工鱼群算法参数优化无人艇运动控制轨迹跟踪
分类号:
TP18;TP273
DOI:
10.3969/j.issn.1006-7043.201306066
文献标志码:
A
摘要:
针对欠驱动无人艇控制系统的参数优化问题,基于改进人工鱼群算法,提出了一种非线性控制系统的参数优化策略。首先考虑了人工鱼群算法存在的求解精度低、盲目搜索、收敛缓慢等问题,提出了一种改进人工鱼群算法。然后分别以最小跟踪误差、最小能量消耗为性能指标,利用改进的人工鱼群算法,对欠驱动无人艇的跟踪控制器进行参数优化。数值仿真试验结果表明:无人艇实现了对期望轨迹的跟踪,并具有良好的控制性能,试验结果验证了所提算法的可行性和有效性。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2013-6-22;改回日期:。
基金项目:中国博士后科学基金资助项目(2013M540271);黑龙江省博士后资助项目(LBH-Z13055);中央高校基本科研业务费专项资金项目(HEUCFD1403).
作者简介:廖煜雷(1985-),男,讲师,博士;张铭钧(1963-),男,博士生导师,博士.
通讯作者:廖煜雷,E-mail:liaoyulei@hrbeu.edu.cn.
更新日期/Last Update: 2015-06-19