Title: Optimisation of a fuzzy logic controller using the Bees Algorithm

Authors: D.T. Pham, A. Haj Darwish, E.E. Eldukhri

Addresses: Intelligent Systems Laboratory, Manufacturing Engineering Centre, Cardiff University, Cardiff, CF24 3AA, UK. ' Intelligent Systems Laboratory, Manufacturing Engineering Centre, Cardiff University, Cardiff, CF24 3AA, UK. ' Intelligent Systems Laboratory, Manufacturing Engineering Centre, Cardiff University, Cardiff, CF24 3AA, UK

Abstract: This paper focuses on using the Bees Algorithm in both its basic and enhanced forms 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.

Keywords: Bees Algorithm; optimisation; fuzzy logic; fuzzy control; robot control; linear quadratic regulator; LQR; acrobatic robots; controller design.

DOI: 10.1504/IJCAET.2009.022790

International Journal of Computer Aided Engineering and Technology, 2009 Vol.1 No.2, pp.250 - 264

Published online: 26 Jan 2009 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article