To increase the robustness and control precision of a hydraulic quadruped robot and simultaneously enhance the dynamic and steady characteristic of the hydraulic system, an active disturbance rejection controller (ADRC) tuned using the Lévy-flight beetle antennae search algorithm (LBAS) was proposed. Moreover, the designed controller was used in the hydraulic quadruped robot to enhance the control performance and restrain the disturbances. The use of the Lévy-flight trajectory in the advanced algorithm can help increase the search speed and iteration accuracy. In the LBAS-ADRC, the parameter tuning method is adopted to develop the active disturbance rejection controller enhanced using the beetle antennae search algorithm. When implemented in the hydraulic quadruped robot, the LBAS-ADRC can ensure satisfactory dynamic characteristics and stability in the presence of external interference. In particular, in the proposed method, the ADRC parameter search problem is transformed to a sixteen-dimensional search problem, the solution of which is identified using the Lévy-flight beetle antennae search algorithm. Moreover, three different algorithms are implemented in the active disturbance rejection controller tuning problem to demonstrate the control performance of the proposed controller. The analysis results show that the proposed controller can achieve a small amplitude overshoot under complex and changeable environments.

中文翻译：

---

采用优化算法的液压四足机器人自抗扰控制设计

为了提高液压四足机器人的鲁棒性和控制精度，同时增强液压系统的动态和稳定特性，提出了一种采用Lévy飞行甲虫触角搜索算法（LBAS）进行调谐的自抗扰控制器（ADRC）。此外，将设计的控制器应用于液压四足机器人，以增强控制性能并抑制干扰。先进算法中使用Lévy飞行轨迹有助于提高搜索速度和迭代精度。在LBAS-ADRC中，采用参数整定方法开发了使用甲虫天线搜索算法增强的自抗扰控制器。当LBAS-ADRC应用于液压四足机器人时，LBAS-ADRC可以在存在外部干扰的情况下确保令人满意的动态特性和稳定性。特别地，在所提出的方法中，ADRC参数搜索问题被转化为十六维搜索问题，其解是使用Lévy-flight甲虫天线搜索算法来确定的。此外，在自抗扰控制器整定问题中实现了三种不同的算法，以证明所提出的控制器的控制性能。分析结果表明，所提出的控制器能够在复杂多变的环境下实现小幅度超调。