{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T03:21:57Z","timestamp":1778642517692,"version":"3.51.4"},"reference-count":72,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,3,16]],"date-time":"2021-03-16T00:00:00Z","timestamp":1615852800000},"content-version":"vor","delay-in-days":74,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"International Cooperation Project","award":["2012DFR70840"],"award-info":[{"award-number":["2012DFR70840"]}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Computational Intelligence and Neuroscience"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>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 L\u00e9vy\u2010flight 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 L\u00e9vy\u2010flight trajectory in the advanced algorithm can help increase the search speed and iteration accuracy. In the LBAS\u2010ADRC, 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\u2010ADRC 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\u2010dimensional search problem, the solution of which is identified using the L\u00e9vy\u2010flight 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.<\/jats:p>","DOI":"10.1155\/2021\/6683584","type":"journal-article","created":{"date-parts":[[2021,3,17]],"date-time":"2021-03-17T01:20:06Z","timestamp":1615944006000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Active Disturbance Rejection Control Design Using the Optimization Algorithm for a Hydraulic Quadruped Robot"],"prefix":"10.1155","volume":"2021","author":[{"given":"Yuqi","family":"Fan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7263-2478","authenticated-orcid":false,"given":"Junpeng","family":"Shao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guitao","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1756-8594","authenticated-orcid":false,"given":"Xuan","family":"Shao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,3,16]]},"reference":[{"key":"e_1_2_11_1_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/3507679"},{"key":"e_1_2_11_2_2","doi-asserted-by":"publisher","DOI":"10.1155\/2016\/9853070"},{"key":"e_1_2_11_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419831557"},{"key":"e_1_2_11_4_2","doi-asserted-by":"publisher","DOI":"10.3390\/app9183911"},{"key":"e_1_2_11_5_2","doi-asserted-by":"publisher","DOI":"10.1108\/aa-08-2017-098"},{"key":"e_1_2_11_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2018.09.002"},{"key":"e_1_2_11_7_2","doi-asserted-by":"publisher","DOI":"10.1155\/2017\/9640849"},{"key":"e_1_2_11_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2018.2860533"},{"key":"e_1_2_11_9_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/5426986"},{"key":"e_1_2_11_10_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/5071254"},{"key":"e_1_2_11_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.108807"},{"key":"e_1_2_11_12_2","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/8535429"},{"key":"e_1_2_11_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2008.2011621"},{"key":"e_1_2_11_14_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/6969207"},{"key":"e_1_2_11_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.06.011"},{"key":"e_1_2_11_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.aej.2019.09.016"},{"key":"e_1_2_11_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3050372"},{"key":"e_1_2_11_18_2","doi-asserted-by":"publisher","DOI":"10.3390\/app10072515"},{"key":"e_1_2_11_19_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/3240405"},{"key":"e_1_2_11_20_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apenergy.2019.114381"},{"key":"e_1_2_11_21_2","doi-asserted-by":"publisher","DOI":"10.3390\/app10124069"},{"key":"e_1_2_11_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/tpel.2020.3003666"},{"key":"e_1_2_11_23_2","doi-asserted-by":"publisher","DOI":"10.1177\/0020294020917171"},{"key":"e_1_2_11_24_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.06.003"},{"key":"e_1_2_11_25_2","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/6217657"},{"key":"e_1_2_11_26_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apenergy.2017.09.095"},{"key":"e_1_2_11_27_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/6907570"},{"key":"e_1_2_11_28_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2019.104122"},{"key":"e_1_2_11_29_2","doi-asserted-by":"publisher","DOI":"10.1177\/0954407020944288"},{"key":"e_1_2_11_30_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2020.107812"},{"key":"e_1_2_11_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/tpel.2018.2841869"},{"key":"e_1_2_11_32_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.10.010"},{"key":"e_1_2_11_33_2","doi-asserted-by":"publisher","DOI":"10.5430\/ijrc.v1n1p1"},{"key":"e_1_2_11_34_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/5839195"},{"key":"e_1_2_11_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2982195"},{"key":"e_1_2_11_36_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/1648573"},{"key":"e_1_2_11_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2965579"},{"key":"e_1_2_11_38_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.enggeo.2019.02.021"},{"key":"e_1_2_11_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2019.2941916"},{"key":"e_1_2_11_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.3012564"},{"key":"e_1_2_11_41_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19122727"},{"key":"e_1_2_11_42_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/5659618"},{"key":"e_1_2_11_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/jas.2020.1003048"},{"key":"e_1_2_11_44_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2997378"},{"key":"e_1_2_11_45_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/4287315"},{"key":"e_1_2_11_46_2","doi-asserted-by":"publisher","DOI":"10.1155\/2015\/479615"},{"key":"e_1_2_11_47_2","doi-asserted-by":"publisher","DOI":"10.3390\/app10020579"},{"key":"e_1_2_11_48_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/3156540"},{"key":"e_1_2_11_49_2","doi-asserted-by":"publisher","DOI":"10.1155\/2021\/6627043"},{"key":"e_1_2_11_50_2","doi-asserted-by":"publisher","DOI":"10.1109\/access.2018.2881440"},{"key":"e_1_2_11_51_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/8854411"},{"key":"e_1_2_11_52_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/5240247"},{"key":"e_1_2_11_53_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/3943867"},{"key":"e_1_2_11_54_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/1571439"},{"key":"e_1_2_11_55_2","volume-title":"Active Disturbance Rejection Control Technique\u2014the Technique for Estimating and Compensating the Uncertainties","author":"Han J.","year":"2008"},{"key":"e_1_2_11_56_2","doi-asserted-by":"publisher","DOI":"10.7641\/CTA.2017.60363"},{"key":"e_1_2_11_57_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10883-015-9304-5"},{"key":"e_1_2_11_58_2","doi-asserted-by":"publisher","DOI":"10.1137\/110856824"},{"key":"e_1_2_11_59_2","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3414"},{"key":"e_1_2_11_60_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2012.2203777"},{"key":"e_1_2_11_61_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.03.001"},{"key":"e_1_2_11_62_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.11.009"},{"key":"e_1_2_11_63_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2015.0320"},{"key":"e_1_2_11_64_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00034-016-0302-y"},{"key":"e_1_2_11_65_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.04.017"},{"key":"e_1_2_11_66_2","doi-asserted-by":"publisher","DOI":"10.1109\/4235.985692"},{"key":"e_1_2_11_67_2","doi-asserted-by":"publisher","DOI":"10.1109\/59.485989"},{"key":"e_1_2_11_68_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10462-018-9624-4"},{"key":"e_1_2_11_69_2","doi-asserted-by":"crossref","unstructured":"GaoZ. Scaling and bandwidth-parameterization based controller tuning Proceedings of the American Control Conference June 2003 Denver CO USA 4989\u20134996 https:\/\/doi.org\/10.1109\/ACC.2003.1242516.","DOI":"10.1109\/ACC.2003.1242516"},{"key":"e_1_2_11_70_2","first-page":"1630","article-title":"Research on frequency-band characteristics and parameters configuration of linear active disturbance rejection control for second-order systems","volume":"30","author":"Yuan D.","year":"2013","journal-title":"Control Theory & Applications"},{"key":"e_1_2_11_71_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/9867467"},{"key":"e_1_2_11_72_2","doi-asserted-by":"publisher","DOI":"10.1177\/0142331217701539"}],"container-title":["Computational Intelligence and Neuroscience"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2021\/6683584.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2021\/6683584.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2021\/6683584","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,6]],"date-time":"2024-08-06T10:38:20Z","timestamp":1722940700000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2021\/6683584"}},"subtitle":[],"editor":[{"given":"Qiangqiang","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2021,1]]},"references-count":72,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["10.1155\/2021\/6683584"],"URL":"https:\/\/doi.org\/10.1155\/2021\/6683584","archive":["Portico"],"relation":{},"ISSN":["1687-5265","1687-5273"],"issn-type":[{"value":"1687-5265","type":"print"},{"value":"1687-5273","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,1]]},"assertion":[{"value":"2020-10-29","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-03-08","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-03-16","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"6683584"}}