Using the Bees Algorithm to tune a fuzzy logic controller for a robot gymnast

Pham, Duc Truong, Darwish, Ahmed Haj, Eldukhri, Eldaw Elzaki and Otri, Sameh 2007. Using the Bees Algorithm to tune a fuzzy logic controller for a robot gymnast. Presented at: I*PROMS 2007 Innovative Production Machines and Systems, online, 1-14 July 2007.

Full text not available from this repository.

Abstract

This paper focuses on using the Bees Algorithm to tune the parameters of a fuzzy logic controller developed to stabilise and balance an under-actuated two-link acrobatic robot (ACROBOT) in the upright position. A linear quadratic regulator (LQR) was first developed to obtain the scaling gains needed to design the fuzzy logic controller. Simulation results confirmed that using the Bees Algorithm to optimise the membership functions and the scaling gains of the fuzzy system improved the controller performance.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Completion
Status:	Unpublished
Schools:	Engineering
Subjects:	T Technology > TJ Mechanical engineering and machinery
Uncontrolled Keywords:	Bees Algorithm; optimisation; fuzzy logic; robot; LQR
Last Modified:	10 Oct 2017 14:43
URI:	https://orca.cardiff.ac.uk/id/eprint/37871

Citation Data

Actions (repository staff only)

Edit Item