基于自适应滑模和多策略黑猩猩优化算法的电缆巡检机器人控制策略设计OA

Aiming at the problems of insufficient control accuracy and stability degradation of cable inspection robots in complex operating environments and external disturbances,this paper proposes a new intelligent cable inspection robot control strategy based on adaptive sliding mode control strategy and multi-strategy chimpanzee optimization algorithm.First,the control system structure is constructed,and an adaptive adjustment mechanism is introduced to form an adaptive sliding mode control strategy.Then,a multi-strategy mechanism is introduced to form a multi-strategy chimpanzee algorithm.The parameters of the adaptive sliding mode controller are optimized to suppress the chattering phenomenon of sliding mode control.Finally,experimental comparison is carried out,and the results show that the proposed control strategy in this paper has excellent control performance and stability characteristics.