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

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dc.contributor.authorBakircioglu, Veli
dc.contributor.authorSen, M. Arif
dc.contributor.authorKalyoncu, Mete
dc.date.accessioned2020-03-26T19:25:31Z
dc.date.available2020-03-26T19:25:31Z
dc.date.issued2016
dc.departmentSelçuk Üniversitesien_US
dc.description3rd International Conference on Control, Mechatronics and Automation (ICCMA) -- DEC 21-22, 2015 -- Barcelona, SPAINen_US
dc.description.abstractIn 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.en_US
dc.identifier.doi10.1051/matecconf/20164203004en_US
dc.identifier.issn2261-236Xen_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://dx.doi.org/10.1051/matecconf/20164203004
dc.identifier.urihttps://hdl.handle.net/20.500.12395/33861
dc.identifier.volume42en_US
dc.identifier.wosWOS:000372745100020en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherE D P SCIENCESen_US
dc.relation.ispartof2015 3RD INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION (ICCMA 2015)en_US
dc.relation.ispartofseriesMATEC Web of Conferences
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.titleOptimization of PID controller based on The Bees Algorithm for one leg of a quadruped roboten_US
dc.typeConference Objecten_US

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