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Abstract.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.

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Performances Comparison of The Bees Algorithm and Genetic Algorithm for PID Controller Tuning

Şen

Bakırcıoğlu

Kalyoncu

2016

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Experimental comparison of the effect of the number of redundant rotors on the fault tolerance performance for the proposed multilayer UAV

Bakırcıoğlu

Çabuk

Yıldırım

2022

Robotics and Autonomous Systems

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