Mechanical arm fuzzy PID control method based on quantum pigeon inspired optimization

The invention discloses a fuzzy PID (Proportion Integration Differentiation) control method for a mechanical arm based on quantum pigeon inspired optimization, which comprises the following steps of: firstly, planning a motion track, and controlling the mechanical arm to move according to the planned motion track through a fuzzy PID controller; a QAPIO algorithm is adopted to optimize fuzzy PID control parameters, and each pigeon can serve as a PID control parameter of each joint of the mechanical arm. According to the QAPIO algorithm, a compass operator updating equation in an original algorithm and a probability density function and a quantum revolving door in real number coding quantum representation are modified, so that the algorithm has the continuous updating capacity, the optimal value can be continuously updated, the global optimization capacity is improved, the situation that local optimum is obtained too early is avoided, and the real number coding efficiency is improved. The problem that the origi