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

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.