Abstract—In this paper, pole placement with integral control for a Gryphon robot are designed using three optimum approaches. The applied approaches are Shuffled Frog Leaping (SFL), Genetic Algorithm (GA) and Firefly algorithms (FA). The design goal is to set up the transient response parameters (overshoot (o.s) and settling time(
ts) ) to the desired values and to decrease the volatilities. An objective function of these indexes is defined and minimized by applying SFL, GA and FA. After optimization of the objective function, the optimal parameters for pole placement with integral control are adjusted. Simulation results show that GA has a remarkable effect on decreasing the amount of volatilities and Setting up
ts to the desired value while SFL algorithm performs better on adjusting o.s to its desired value and FA is better on decreasing of the volatilities.
Index Terms—Robotics, pole placement with integral control, gryphon, shuffled frog leaping, genetic algorithm, firefly algorithm.
The authors are with the Control Engineering Department, University of Tabriz, Tabriz, Iran (e-mail: nalansomayyeh@gmail.com, ghaemi@tabrizu.ac.ir).
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Cite: Somayyeh Nalan-Ahmadabad and Sehraneh Ghaemi, "The Design of Pole Placement With Integral Controllers for Gryphon Robot Using Three Evolutionary Algorithms," International Journal of Materials, Mechanics and Manufacturing vol. 5, no. 2, pp. 127-131, 2017.
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