Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.13091/1272
Title: | Grey Wolf Optimizer Based Tuning of a Hybrid LQR-PID Controller for Foot Trajectory Control of a Quadruped Robot | Authors: | Şen, Muhammed Arif Kalyoncu, Mete |
Keywords: | Biyoloji Kimya, Analitik Kimya, Uygulamalı Kimya, İnorganik ve Nükleer Kimya, Tıbbi Kimya, Organik Matematik Fizik, Uygulamalı Fizik, Atomik ve Moleküler Kimya Fizik, Katı Hal Fizik, Akışkanlar ve Plazma Fizik, Matematik Fizik, Nükleer Fizik, Partiküller ve Alanlar İstatistik ve Olasılık Mimarlık Bilgisayar Bilimleri, Yapay Zeka Bilgisayar Bilimleri, Sibernitik Bilgisayar Bilimleri, Donanım ve Mimari Bilgisayar Bilimleri, Bilgi Sistemleri Bilgisayar Bilimleri, Yazılım Mühendisliği Bilgisayar Bilimleri, Teori ve Metotlar Mühendislik, Kimya İnşaat Mühendisliği Mühendislik, Elektrik ve Elektronik Endüstri Mühendisliği İmalat Mühendisliği Mühendislik, Makine |
Abstract: | 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. | URI: | https://app.trdizin.gov.tr/makale/TXpJME5UZzVPUT09 https://hdl.handle.net/20.500.13091/1272 |
ISSN: | 2147-1762 2147-1762 |
Appears in Collections: | Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections TR Dizin İndeksli Yayınlar Koleksiyonu / TR Dizin Indexed Publications Collections WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collections |
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38c3cb5c-5fd3-4945-bde2-5693b636776e.pdf | 1.06 MB | Adobe PDF | View/Open |
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