Optimization of PID controller based on the Bees Algorithm for one leg of a quadruped robot
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Tarih
2016
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
EDP Sciences
Erişim Hakkı
info:eu-repo/semantics/closedAccess
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. © 2016 Owned by the authors, published by EDP Sciences.
Açıklama
3rd International Conference on Control, Mechatronics and Automation, ICCMA 2015 -- 21 December 2015 through 22 December 2015 -- -- 121440
Anahtar Kelimeler
Kaynak
MATEC Web of Conferences
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
42
