Title :
Trajectory control of the cable-based parallel mechanism based on dynamics
Author :
Zi, Bin ; Zhu, Zhencai ; Wei, Mingsheng
Author_Institution :
Sch. of Mech. & Electr. Eng., China Univ. of Min. & Technol., Xuzhou, China
Abstract :
This paper is concerned with trajectory control system of cable-based parallel mechanisms (CPM) based on dynamics. Firstly, the dynamic formulation of the CPM with non-negligible cable mass was established by means of Newton-Euler formulation. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled system, a decentralized control approach is proposed, and an immune proportional-integral-derivative controller, using fuzzy logic controller as anti-body-suppressed function to improve the self-tuning capability, is developed for each subsystem of the CPM to realize the trajectory tracking of the end-effector. Finally, simulation is performed to validate and highlight properties of the proposed control strategy in the presence of external disturbances.
Keywords :
Newton method; cables (mechanical); control nonlinearities; end effectors; fuzzy control; manipulator dynamics; multivariable systems; position control; self-adjusting systems; three-term control; Newton-Euler formulation; antibody-suppressed function; cable-based parallel mechanism; decentralized control approach; end-effector; fuzzy logic controller; immune proportional-integral-derivative controller; multivariable coupled system; self-tuning capability; trajectory control; trajectory tracking; Control systems; Couplings; Fuzzy logic; Mechanical cables; Nonlinear control systems; Nonlinear dynamical systems; Pi control; Poles and towers; Proportional control; Three-term control;
Conference_Titel :
Information and Automation, 2009. ICIA '09. International Conference on
Conference_Location :
Zhuhai, Macau
Print_ISBN :
978-1-4244-3607-1
Electronic_ISBN :
978-1-4244-3608-8
DOI :
10.1109/ICINFA.2009.5205135
