简介:Thequantumbacterialforagingoptimization(QBFO)algorithmhasthecharacteristicsofstrongrobustnessandglobalsearchingability.IntheclassicalQBFOalgorithm,therotationangleupdatedbytherotationgateisdiscreteandconstant,whichcannotaffectthesituationofthesolutionspaceandlimitthediversityofbacterialpopulation.Inthispaper,animprovedQBFO(IQBFO)algorithmisproposed,whichcanadaptivelymakethequantumrotationanglecontinuouslyupdatedandenhancetheglobalsearchability.Intheinitializationprocess,themodifiedprobabilityoftheoptimalrotationangleisintroducedtoavoidtheexistenceofinvariantsolutions.Themodifiedoperatorofprobabilityamplitudeisadoptedtofurtherincreasethepopulationdiversity.Thetestsbasedonbenchmarkfunctionsverifytheeffectivenessoftheproposedalgorithm.Moreover,comparedwiththeintegerorderPIDcontroller,thefractional-orderproportionintegrationdifferentiation(PID)controllerincreasesthecomplexityofthesystemwithbetterflexibilityandrobustness.Thusthefractional-orderPIDcontrollerisappliedtotheservosystem.ThetuningresultsofPIDparametersofthefractional-orderservosystemshowthattheproposedalgorithmhasagoodperformanceintuningthePIDparametersofthefractional-orderservosystem.