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, Spain, 21 - 22 December 2015, vol.42 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 42
  • Doi Number: 10.1051/matecconf/20164203004
  • City: Barcelona
  • Country: Spain
  • Middle East Technical University Affiliated: No


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.