Parallel Self-Tuning Fuzzy PD + PD Controller for a Stewart–Gough Platform-Based Spatial Joystick

Stewart platform (SP) mechanisms have wide application area in aerospace and manufacturing industry with their nonlinear structure allowing spatial motion capabilities. Nonlinearities in the structure of the mechanism lead to complications in the dynamics of the system and result in complex control algorithms for dexterity in motion and force/torque feedback. This paper aims to represent stiffness control by means of independent joint self-tuning fuzzy-PD control algorithm on an experimental 3 × 3 SP parallel robotic mechanism, which will be used as a fly-by-wire flight control unit. Simulation model and experimental system responses are compared employing stiffness control for model verification. Following the selection of optimum control coefficients of self-tuning structure from the simulation model, responses are compared with alternative control algorithms like fuzzy PD, self-tuning fuzzy PD and PD controllers. Experimental system responses are also provided and the satisfactory performance of the proposed controller is observed.

[1]  Zhuxin Zhang,et al.  Design and Research of Tele-operation Manipulator with Force Feedback , 2008, 2008 International Conference on Intelligent Computation Technology and Automation (ICICTA).

[2]  Masayoshi Tomizuka,et al.  Fuzzy gain scheduling of PID controllers , 1993, IEEE Trans. Syst. Man Cybern..

[3]  D. Stewart.  A Platform with Six Degrees of Freedom , 1965 .

[4]  Ganwen Zeng,et al.  An overview of robot force control , 1997, Robotica.

[5]  Shin-Min Song,et al.  Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[6]  A. Benali,et al.  Design, control and evaluation of a six DOF force feedback interface for virtual reality applications , 1999, 8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483).

[7]  Lih-Chang Lin,et al.  Modeling and control of micropositioning systems using Stewart platforms , 2000 .

[8]  William Leithead,et al.  Survey of gain-scheduling analysis and design , 2000 .

[9]  Han-Xiong Li,et al.  Conventional fuzzy control and its enhancement , 1996, IEEE Trans. Syst. Man Cybern. Part B.

[10]  Yong Mo Moon,et al.  Design of Compliant Parallel Kinematic Machines , 2002 .

[11]  Rajani K. Mudi,et al.  A robust self-tuning scheme for PI- and PD-type fuzzy controllers , 1999, IEEE Trans. Fuzzy Syst..

[12]  P. Han,et al.  Modeling and control of a Stewart platform based six-axis hybrid vibration isolation system , 2008, 2008 7th World Congress on Intelligent Control and Automation.

[13]  Ibrahim Beklan Kucukdemiral,et al.  Direct adaptive fuzzy logic controller with self-tuning input scaling factors , 2002 .

[14]  Septimiu E. Salcudean,et al.  A coarse-fine approach to force-reflecting hand controller design , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[15]  Frank L. Lewis,et al.  Dynamic analysis and control of a stewart platform manipulator , 1993, J. Field Robotics.

[16]  Meng Joo Er,et al.  Hybrid fuzzy control of robotics systems , 2004, IEEE Trans. Fuzzy Syst..

[17]  Bhaskar Dasgupta,et al.  The Stewart platform manipulator: a review , 2000 .

[18]  Masahiro Takaiwa,et al.  Application of pneumatic parallel manipulator as haptic human interface , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[19]  Leonard S. Haynes,et al.  Six degree-of-freedom active vibration control using the Stewart platforms , 1994, IEEE Trans. Control. Syst. Technol..

[20]  Lotfi A. Zadeh,et al.  Fuzzy Sets , 1996, Inf. Control..

[21]  K. Srinivasan,et al.  Kinematic and dynamic analysis of Stewart platform-based machine tool structures , 2003, Robotica.

[22]  Minoru Hashimoto,et al.  Development of a parallel manipulator for force display , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.

[23]  Yuxin Su,et al.  Disturbance-rejection high-precision motion control of a Stewart platform , 2004, IEEE Transactions on Control Systems Technology.

[24]  Hanqi Zhuang,et al.  Calibration of stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals , 1998 .

[25]  Chin-Teng Lin,et al.  Fuzzy control of a six-degree motion platform with stability analysis , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[26]  S. Shankar Sastry,et al.  Design and control of a simplified Stewart platform for endoscopy , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[27]  Bhaskar Dasgupta,et al.  Closed-Form Dynamic Equations of the General Stewart Platform through the Newton–Euler Approach , 1998 .

[28]  C. Chaillou,et al.  A parallel manipulator as a haptic interface solution for amniocentesis simulation , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[29]  Wankyun Chung,et al.  Analytic singularity equation and analysis of six-DOF parallel manipulators using local structurization method , 1999, IEEE Trans. Robotics Autom..

[30]  Jae-Bok Song,et al.  Position control of a Stewart platform using inverse dynamics control with approximate dynamics , 2003 .

[31]  Jae-Bok Song,et al.  Controller design for a Stewart platform using small workspace characteristics , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).