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CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm

The PID control algorithm for balancing robot attitude control suffers from the problem of difficult parameter tuning. Previous studies have proposed using metaheuristic algorithms to tune the PID parameters. However, traditional metaheuristic algorithms are subject to the criticism of premature con...

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Autores principales: Lin, Jianan, Zheng, Rongjia, Zhang, Yirong, Feng, Jinkai, Li, Wei, Luo, Kaiqing
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9228976/
https://www.ncbi.nlm.nih.gov/pubmed/35746273
http://dx.doi.org/10.3390/s22124492
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author Lin, Jianan
Zheng, Rongjia
Zhang, Yirong
Feng, Jinkai
Li, Wei
Luo, Kaiqing
author_facet Lin, Jianan
Zheng, Rongjia
Zhang, Yirong
Feng, Jinkai
Li, Wei
Luo, Kaiqing
author_sort Lin, Jianan
collection PubMed
description The PID control algorithm for balancing robot attitude control suffers from the problem of difficult parameter tuning. Previous studies have proposed using metaheuristic algorithms to tune the PID parameters. However, traditional metaheuristic algorithms are subject to the criticism of premature convergence and the possibility of falling into local optimum solutions. Therefore, the present paper proposes a CFHBA-PID algorithm for balancing robot Dual-loop PID attitude control based on Honey Badger Algorithm (HBA) and CF-ITAE. On the one hand, HBA maintains a sufficiently large population diversity throughout the search process and employs a dynamic search strategy for balanced exploration and exploitation, effectively avoiding the problems of classical intelligent optimization algorithms and serving as a global search. On the other hand, a novel complementary factor (CF) is proposed to complement integrated time absolute error (ITAE) with the overshoot amount, resulting in a new rectification indicator CF-ITAE, which balances the overshoot amount and the response time during parameter tuning. Using balancing robot as the experimental object, HBA-PID is compared with AOA-PID, WOA-PID, and PSO-PID, and the results demonstrate that HBA-PID outperforms the other three algorithms in terms of overshoot amount, stabilization time, ITAE, and convergence speed, proving that the algorithm combining HBA with PID is better than the existing mainstream algorithms. The comparative experiments using CF prove that CFHBA-PID is able to effectively control the overshoot amount in attitude control. In conclusion, the CFHBA-PID algorithm has great control and significant results when applied to the balancing robot.
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spelling pubmed-92289762022-06-25 CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm Lin, Jianan Zheng, Rongjia Zhang, Yirong Feng, Jinkai Li, Wei Luo, Kaiqing Sensors (Basel) Article The PID control algorithm for balancing robot attitude control suffers from the problem of difficult parameter tuning. Previous studies have proposed using metaheuristic algorithms to tune the PID parameters. However, traditional metaheuristic algorithms are subject to the criticism of premature convergence and the possibility of falling into local optimum solutions. Therefore, the present paper proposes a CFHBA-PID algorithm for balancing robot Dual-loop PID attitude control based on Honey Badger Algorithm (HBA) and CF-ITAE. On the one hand, HBA maintains a sufficiently large population diversity throughout the search process and employs a dynamic search strategy for balanced exploration and exploitation, effectively avoiding the problems of classical intelligent optimization algorithms and serving as a global search. On the other hand, a novel complementary factor (CF) is proposed to complement integrated time absolute error (ITAE) with the overshoot amount, resulting in a new rectification indicator CF-ITAE, which balances the overshoot amount and the response time during parameter tuning. Using balancing robot as the experimental object, HBA-PID is compared with AOA-PID, WOA-PID, and PSO-PID, and the results demonstrate that HBA-PID outperforms the other three algorithms in terms of overshoot amount, stabilization time, ITAE, and convergence speed, proving that the algorithm combining HBA with PID is better than the existing mainstream algorithms. The comparative experiments using CF prove that CFHBA-PID is able to effectively control the overshoot amount in attitude control. In conclusion, the CFHBA-PID algorithm has great control and significant results when applied to the balancing robot. MDPI 2022-06-14 /pmc/articles/PMC9228976/ /pubmed/35746273 http://dx.doi.org/10.3390/s22124492 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Lin, Jianan
Zheng, Rongjia
Zhang, Yirong
Feng, Jinkai
Li, Wei
Luo, Kaiqing
CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm
title CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm
title_full CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm
title_fullStr CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm
title_full_unstemmed CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm
title_short CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm
title_sort cfhba-pid algorithm: dual-loop pid balancing robot attitude control algorithm based on complementary factor and honey badger algorithm
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9228976/
https://www.ncbi.nlm.nih.gov/pubmed/35746273
http://dx.doi.org/10.3390/s22124492
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