Title :
Hybrid fuzzy self-tuning PID controller for a parallel manipulator
Author :
Wu, Huapeng ; Handroos, Heikki
Author_Institution :
Inst. of Mechatronics & Virtual Eng., Lappeenranta Univ. of Technol., Finland
Abstract :
This paper presents a 6-degree freedom parallel manipulator, which is driven by hydraulic. The kinematics analysis of the manipulator has given, and a hybrid fuzzy controller is designed, which is combined with the fuzzy self-tuning PD and the fuzzy self-tuning PI by using a simple design scheme. This controller is implemented for motion control of the manipulator. The essential idea of the control scheme is to take the advantage of the fuzzy self-tuning PD and PI controller. The control results are presented and discussed.
Keywords :
PD control; PI control; adaptive control; control system synthesis; fuzzy control; hydraulic control equipment; manipulator kinematics; motion control; self-adjusting systems; three-term control; 6-degree freedom parallel manipulator; control system synthesis; fuzzy self tuning PD controller; fuzzy self tuning PI controller; hybrid fuzzy self tuning PID controller; hydraulic control; hydraulic manipulator; kinematics analysis; motion control; parallel manipulator; Actuators; Fuzzy control; Kinematics; Manipulator dynamics; Nonlinear dynamical systems; Pi control; Proportional control; Robust control; Three-term control; Tuning;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1342055
