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

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

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...

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Main Authors: Bakırcıoğlu Veli, Arif Şen M., Kalyoncu Mete
Format: Article
Language:English
Published: EDP Sciences 2016-01-01
Series:MATEC Web of Conferences
Online Access:http://dx.doi.org/10.1051/matecconf/20164203004
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spelling doaj-c425876ca35445339676e0848786b50c2021-02-02T00:38:39ZengEDP SciencesMATEC Web of Conferences2261-236X2016-01-01420300410.1051/matecconf/20164203004matecconf_iccma2016_03004Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robotBakırcıoğlu Veli0Arif Şen M.1Kalyoncu Mete2Technical Science Vocational Education and Training School, Aksaray UniversityDepartment of Mechanical Engineering, Faculty of Engineering and Architect, Selçuk UniversityDepartment of Mechanical Engineering, Faculty of Engineering and Architect, Selçuk UniversityIn 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.http://dx.doi.org/10.1051/matecconf/20164203004
collection DOAJ
language English
format Article
sources DOAJ
author Bakırcıoğlu Veli
Arif Şen M.
Kalyoncu Mete
spellingShingle Bakırcıoğlu Veli
Arif Şen M.
Kalyoncu Mete
Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot
MATEC Web of Conferences
author_facet Bakırcıoğlu Veli
Arif Şen M.
Kalyoncu Mete
author_sort Bakırcıoğlu Veli
title Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot
title_short Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot
title_full Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot
title_fullStr Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot
title_full_unstemmed Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot
title_sort optimization of pid controller based on the bees algorithm for one leg of a quadruped robot
publisher EDP Sciences
series MATEC Web of Conferences
issn 2261-236X
publishDate 2016-01-01
description 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.
url http://dx.doi.org/10.1051/matecconf/20164203004
work_keys_str_mv AT bakırcıogluveli optimizationofpidcontrollerbasedonthebeesalgorithmforonelegofaquadrupedrobot
AT arifsenm optimizationofpidcontrollerbasedonthebeesalgorithmforonelegofaquadrupedrobot
AT kalyoncumete optimizationofpidcontrollerbasedonthebeesalgorithmforonelegofaquadrupedrobot
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