A method for optimizing the one leg PID controller of a quadruped robot utilizing the improved coyote optimization algorithm
Authors: 
Chaokun Yin, Jianhua QinAuthors Info & Claims
Pages 1037 - 1041
Abstract
In order to improve the stability of the one leg of the quadruped robot during operation, a PID controller optimization method for the PID controller of the one leg of the quadruped robot utilizing the improved coyote algorithm is proposed. First, the dynamic model of the one leg was established by Lagrangian dynamics, and then the PID controller was used for the motion control of the one leg model. Finally, the coyote optimization algorithm was used to optimize the PID controller. The parameters of the PID are used as coyote individuals. The Singer chaotic mapping was introduced to optimize the initial population of COA. Adaptive t-distribution optimization is introduced in the iterative process of the algorithm, which improves the convergence accuracy of the algorithm and avoids the algorithm from falling into the local optimum in the late iteration. The optimized PID controller is used in the motion control of the one leg model. The experimental result showed that the method in this paper can track the desired trajectory of the foot end well, and the control effect is good. For different trajectory curves, the method in this paper has achieved better effects.
References
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Published In
December 2022
1396 pages
ISBN:9781450398343
DOI:10.1145/3584376
Copyright © 2022 ACM.
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Association for Computing Machinery
New York, NY, United States
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Published: 19 April 2023
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RICAI 2022
RICAI 2022: 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence
December 16 - 18, 2022
Dongguan, China
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Overall Acceptance Rate 140 of 294 submissions, 48%
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