Robot Visual Servo Based on Particle Swarm Optimized ADRC

Abstract:

Active Disturbance Rejection Controller (ADRC) is a kind of nonlinear controller for a set of uncertain systems. Particle Swarm Optimization (PSO) algorithm is a new evolutionary computation technique and is inspired by social behaviour simulation. The ADRC was adopted to realize the uncalibrated hand-eye coordination control of six degree-of-freedom robot and the controller parameters were optimized by PSO. Simulation results prove the effectiveness of the algorithm.

• Periodical: Advanced Materials Research (Volumes 756-759)
• Pages: 669-672
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.756-759.669
• Online since: September 2013
• Authors: Xiao Li Liu, Liang Peng Xiong
• Keywords: Active Disturbance Rejection Controller (ADRC), Parameter Optimization, Particle Swarm Optimization (PSO), Robot Visual Servo

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