Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot

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Bakircioglu V., Sen M. A., Kalyoncu M.

3rd International Conference on Control, Mechatronics and Automation (ICCMA), Barcelona, İspanya, 21 - 22 Aralık 2015, cilt.42 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 42
  • Doi Numarası: 10.1051/matecconf/20164203004
  • Basıldığı Şehir: Barcelona
  • Basıldığı Ülke: İspanya
  • Orta Doğu Teknik Üniversitesi Adresli: Hayır

Özet

In this paper, we apply The Bees Algorithm to find optimal PID controller gains to control angular positions of robot leg joints with the minimum position error. In order to present more realistic simulation, system modelled in MATLAB/Simulink environment which is close to experimental set up. Solid model of system, which has two degrees of freedom, drawn by using a CAD software. Required physical specifications of robot leg for MATLAB/Simulink modelling is obtained from this CAD model. Controller of the system is designed in MATLAB/Simulink interface. Simulation results derived to show effectiveness of The Bees Algorithm to find optimal PID controller gains.