Optimisation of a fuzzy logic controller for a flexible single-link robot arm using the Bees Algorithm

Abstract

This paper focuses on using the Bees Algorithm to tune the scaling gains and other parameters of a fuzzy logic controller for a flexible single-link robot arm. The algorithm optimises those quantities so that the controller can move the link to a desired position with the minimum amount of vibration during the movement. Following a description of the algorithm, the paper gives the experimental results obtained for the robot demonstrating the efficiency and robustness of the design.