Fuzzy control of a six-degree motion platform with stability analysis

Addresses the control problem of the six-degree-of-freedom parallel manipulator known as the Stewart platform. This manipulating structure has been well-known for its use as a flight simulator. It has become an important element in virtual reality (VR) applications for providing motion sensation to users. In this research, we first analyze the hydraulic driving system and the kinematics of the Stewart platform. We then develop a fuzzy controller. The stability of the proposed fuzzy control systems are analyzed based on the Popov criterion stability theorem. Experimental results have shown that the designed fuzzy controller can drive the six-degree motion platform accurately, smoothly, and stably