关键词: 权重算子, 量子粒子群优化算法, 滑模, 控制律, 轨迹跟踪

Abstract: Decision-making rights are different according to the individuals’ fitness values by the analysis of SI decision-making mechanism. The improvements of QPSO algorithm are proposed to improve searching efficiency and optimal performance by introducing linear weighted operator into algorithm. Sliding mode controller design method of robots trajectory tracking is analyzed. A new sliding mode control law is designed by combining index reaching law and power reaching law. The parameters in sliding mode tracking controller are optimized through PSO algorithm, QPSO algorithm and the improved QPSO algorithm. The design result of optimal tracking controller is validated by two design examples. It shows that tracking controller can control robot to track planned trajectory. Simulation results show that the improved QPSO algorithm can get better effect in optimizing parameters of controllers.

Key words: weighted operator, Quantum Particle Swarm Optimization（QPSO） algorithm, sliding mode, control law, trajectory tracking