Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator |
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| Affiliation: | 1. Institute of Instrument Science and Technology, Department of Precision Instrument, Tsinghua University, Beijing, 100084, China;2. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China;3. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, 100084, China;1. Sino-German College for Postgraduate Studies, Tongji University, Shanghai 201804, PR China;2. School of Mechanical Engineering, Tongji University, Shanghai 201804, PR China |
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| Abstract: | In this paper, a robust nonlinear proportional–integral–derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator (motion platform) with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances. The proposed control law consists of mainly two parts: first part uses a feed forward term to enhance the control activity and estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics, and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. Experimental results are presented to show the effectiveness of the proposed control scheme. |
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| Keywords: | Planar parallel manipulator Fuzzy logic control Nonlinear PID Robust control Motion control Lyapunov stability |
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