人工蜂コロニーアルゴリズムを用いた未知入力推定器の設計

抄録

We propose a design method of a recently developed Unknown-Input Estimator (UIE) using Artificial Bee Colony (ABC) Algorithm. The design of the UIE is based on the optimal control theory, and two weight matrices must be specified to compute two estimator gains. Therefore, we devise an appropriate objective function to estimate disturbance utilized in the ABC algorithm. The designed UIE is applied to the position control of a three-link manipulator, and the experimental results show that the proposed approach is effective for the design of the UIE.