Hybrid fuzzy self-tuning PID controller for a parallel manipulator

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.

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