Balkan Journal of Electrical and Computer Engineering

2147-284X 2147-284X

MUSA YILMAZ

10.17694/bajece.401992

Engineering

Mühendislik

Optimal Tuning of PID Controller Using Grey Wolf Optimizer Algorithm for Quadruped Robot

Şen

Muhammed Arif

KONYA TEKNİK UNİVERSİTESIİ Kalyoncu

Mete

02 15 2018

6 1 29 35 09 06 2017 01 11 2018

2013

Balkan Journal of Electrical and Computer Engineering

The research anddevelopment of quadruped robots is grown steadily in during the last twodecades. Quadruped robots present major advantages when compared with trackedand wheeled robots, because they allow locomotion in terrains inaccessible.However, the design controller is a major problem in quadruped robots becauseof they have complex structure. This paper presents the optimization of two PIDcontrollers for a quadruped robot to ensure single footstep control in adesired trajectory using a bio-inspired meta-heuristic soft computing methodwhich is name the Grey Wolf Optimizer (GWO) algorithm. The main objective ofthis paper is the optimization of KP, KI and KDgains with GWO algorithm in order to obtain more effective PID controllers forthe quadruped robot leg. The importance to this work is that GWO is used firsttime as a diversity method for a quadruped robot to tune PID controller.Moreover, to investigate the performance of GWO, it is compared with widespreadsearch algorithms. Firstly, the computer aided design (CAD) of the system arebuilt using SolidWorks and exported to MATLAB/SimMechanics. After that, PIDcontrollers are designed in MATLAB/Simulink and tuned gains using the newlyintroduced GWO technique. Also, to show the efficacy of GWO algorithmtechnique, the proposed technique has been compared by Genetic Algorithm (GA)and Particle Swarm Optimization (PSO) algorithm. The system is simulated inMATLAB and the simulation results are presented in graphical forms toinvestigate the controller’s performance.

Quadruped Robot PID controller Optimization Gait definition Grey Wolf Optimizer Genetic Algorithm Particle Swarm Optimization Trajectory Tracing

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