Year 2019, Volume 32, Issue 2, Pages 674 - 684 2019-06-01

Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot

Muhammed Arif SEN [1] , Mete KALYONCU [2]

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Quadruped robots have generally complex construction, so designing a stable controller for them is a major struggle task. This paper presents designing and optimization of an effective hybrid control by combining LQR and PID controllers. In this study, the tuning of a hybrid LQR-PID controller for foot trajectory control of a quadruped robot during step motion using Grey Wolf Optimizer (GWO) algorithm which is an alternative method are comparatively investigated with two traditional benchmarking algorithms (PSO and GA). The principal goal of this work is the tuning of the LQR controller parameters (Q and R weight matrices) and the PID controllers gains (kp, ki and kd) using the proposed algorithms. Initially, the designed solid model of the quadruped robot is imported into Simulink/SimMechanics which are simulation tools of MATLAB and then obtained the mathematical model of system which is at State-Space form with Linear Analysis Tools considering the step motion of robot leg in sagittal plane. Later, the hybrid LQR-PID control system is designed and its parameters are tuned to get optimal values which guarantee best trajectory tracing in Simulink with the three proposed algorithms. Subsequently, the system is simulated separately with optimal control parameters which provide from the algorithms. The simulation outcomes are indicating that GWO algorithm is more efficiently and quickly within similar torques to tuning the hybrid controller based on LQR&PID than the other conventional algorithms.

Quadruped Robot, Grey Wolf Optimizer, Leg Trajectory Control, Tuning Hybrid LQR-PID, Grey Wolf Optimizer, PSO
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Primary Language en
Subjects Engineering
Journal Section Mechanical Engineering
Authors

Orcid: 0000-0002-6081-2102
Author: Muhammed Arif SEN (Primary Author)
Institution: MÜHENDİSLİK VE DOĞA BİLİMLERİ FAKÜLTESİ
Country: Turkey


Orcid: 0000-0002-2214-7631
Author: Mete KALYONCU
Institution: MÜHENDİSLİK VE DOĞA BİLİMLERİ FAKÜLTESİ
Country: Turkey


Dates

Publication Date: June 1, 2019

Bibtex @research article { gujs461494, journal = {GAZI UNIVERSITY JOURNAL OF SCIENCE}, issn = {}, eissn = {2147-1762}, address = {Gazi University}, year = {2019}, volume = {32}, pages = {674 - 684}, doi = {}, title = {Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot}, key = {cite}, author = {SEN, Muhammed Arif and KALYONCU, Mete} }
APA SEN, M , KALYONCU, M . (2019). Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot. GAZI UNIVERSITY JOURNAL OF SCIENCE, 32 (2), 674-684. Retrieved from http://dergipark.org.tr/gujs/issue/45480/461494
MLA SEN, M , KALYONCU, M . "Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot". GAZI UNIVERSITY JOURNAL OF SCIENCE 32 (2019): 674-684 <http://dergipark.org.tr/gujs/issue/45480/461494>
Chicago SEN, M , KALYONCU, M . "Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot". GAZI UNIVERSITY JOURNAL OF SCIENCE 32 (2019): 674-684
RIS TY - JOUR T1 - Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot AU - Muhammed Arif SEN , Mete KALYONCU Y1 - 2019 PY - 2019 N1 - DO - T2 - GAZI UNIVERSITY JOURNAL OF SCIENCE JF - Journal JO - JOR SP - 674 EP - 684 VL - 32 IS - 2 SN - -2147-1762 M3 - UR - Y2 - 2019 ER -
EndNote %0 GAZI UNIVERSITY JOURNAL OF SCIENCE Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot %A Muhammed Arif SEN , Mete KALYONCU %T Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot %D 2019 %J GAZI UNIVERSITY JOURNAL OF SCIENCE %P -2147-1762 %V 32 %N 2 %R %U
ISNAD SEN, Muhammed Arif , KALYONCU, Mete . "Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot". GAZI UNIVERSITY JOURNAL OF SCIENCE 32 / 2 (June 2019): 674-684.
AMA SEN M , KALYONCU M . Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot. GAZI UNIVERSITY JOURNAL OF SCIENCE. 2019; 32(2): 674-684.
Vancouver SEN M , KALYONCU M . Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot. GAZI UNIVERSITY JOURNAL OF SCIENCE. 2019; 32(2): 684-674.