Mutative Scale Chaos Optimization Algorithm and its Application in PID Controller Design of Mobile Robot Systems
Ergodicity is the outstanding character of chaos system, and chaotic variables can be used to approach global optimal point. Aiming at the control requirements for position and speed of mobile robot, a compact PID controller parameters optimization strategy based on mutative scale chaos optimization algorithm is proposed. The Kinematics model of the soccer robot system is introduced, and the strategy of chaos optimization PID controller parameters is discussed. This optimal solution needs no prior knowledge, searches the whole parameter’s space efficiently and finds the optimal parameter, according to the given performance criteria. Simulation results show that this strategy is feasible and effective.
W. B. Chen et al., "Mutative Scale Chaos Optimization Algorithm and its Application in PID Controller Design of Mobile Robot Systems", Advanced Materials Research, Vols. 179-180, pp. 983-988, 2011