A PID control strategy design based on a modified crow search algorithm for the robot

Abstract This paper introduces the application of a modified crow search algorithm based on the Anti-misleading Factor and the Lévy Flight strategy (AMLCSA) in PID control strategy. The PID parameter tuning is crucial for ensuring the accuracy and stability of the control system. The AMLCSA proposed in this paper not only enhances the optimization ability of the original crow search algorithm but also improves the PID controller performance by introducing the adaptive perception probability, the Lévy flight length, and the anti-misguidance factor. The paper first establishes a mathematical model for the hip joint position driving system of a hydraulic quadruped robot, and then introduces the improvement strategy and algorithm flow of AMLCSA. By comparing the calculation results of multiple test functions, it proves the superiority of AMLCSA over the original crow search algorithm. Finally, the AMLCSA-PID is analyzed, and the results showed that compared with different controllers, the AMLCSA-PID has better transient performances and amplitude frequency characteristics, which can greatly improve system control performances and better suppress external disturbances.