Optimal tuning of PID controller using grey wolf optimizer algorithm for quadruped robot

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dc.authorid0000-0002-6081-2102
dc.authorid0000-0002-2214-7631
dc.contributor.authorŞen, M. A.
dc.contributor.authorKalyoncu, M.
dc.date.accessioned2020-03-26T19:44:31Z
dc.date.available2020-03-26T19:44:31Z
dc.date.issued2018
dc.departmentSelçuk Üniversitesi, Teknoloji Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.description.abstractThe research and development of quadruped robotsis grown steadily in during the last two decades. Quadruped robotspresent major advantages when compared with tracked andwheeled robots, because they allow locomotion in terrainsinaccessible. However, the design controller is a major problem inquadruped robots because of they have complex structure. Thispaper presents the optimization of two PID controllers for aquadruped robot to ensure single footstep control in a desiredtrajectory using a bio-inspired meta-heuristic soft computingmethod which is name the Grey Wolf Optimizer (GWO)algorithm. The main objective of this paper is the optimization ofKP, KI and KD gains with GWO algorithm in order to obtain moreeffective PID controllers for the quadruped robot leg. Theimportance to this work is that GWO is used first time as adiversity method for a quadruped robot to tune PID controller.Moreover, to investigate the performance of GWO, it is comparedwith widespread search algorithms. Firstly, the computer aideddesign (CAD) of the system are built using SolidWorks andexported to MATLAB/SimMechanics. After that, PID controllersare designed in MATLAB/Simulink and tuned gains using thenewly introduced GWO technique. Also, to show the efficacy ofGWO algorithm technique, the proposed technique has beencompared by Genetic Algorithm (GA) and Particle SwarmOptimization (PSO) algorithm. The system is simulated inMATLAB and the simulation results are presented in graphicalforms to investigate the controller’s performance.en_US
dc.identifier.citationŞen, M. A., Kalyoncu, M. (2018). Optimal Tuning of PID Controller Using Grey Wolf Optimizer Algorithm for Quadruped Robot. Balkan Journal of Electrical and Computer Engineering, 6(1), 29-35.
dc.identifier.doi10.17694/bajece.401992en_US
dc.identifier.endpage35en_US
dc.identifier.issn2147-284Xen_US
dc.identifier.issue1en_US
dc.identifier.startpage29en_US
dc.identifier.urihttps://dx.doi.org/10.17694/bajece.401992
dc.identifier.urihttp://www.trdizin.gov.tr/publication/paper/detail/TWpreU1URXhNUT09
dc.identifier.urihttps://hdl.handle.net/20.500.12395/35888
dc.identifier.volume6en_US
dc.indekslendigikaynakTR-Dizinen_US
dc.institutionauthorŞen, M. A.
dc.institutionauthorKalyoncu, M.
dc.language.isoenen_US
dc.relation.ispartofBalkan Journal of Electrical and Computer Engineeringen_US
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectBilgisayar Bilimlerien_US
dc.subjectBilgi Sistemlerien_US
dc.subjectBilgisayar Bilimlerien_US
dc.subjectDonanım ve Mimarien_US
dc.subjectTeori ve Metotlaren_US
dc.subjectYapay Zekaen_US
dc.subjectYazılım Mühendisliğien_US
dc.subjectTelekomünikasyonen_US
dc.subjectSürdürülebilir Bilim ve Teknolojien_US
dc.titleOptimal tuning of PID controller using grey wolf optimizer algorithm for quadruped roboten_US
dc.typeArticleen_US

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