Robot Visual Servo Based on Particle Swarm Optimized ADRC

摘要

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.