Fuzzy fractional order force control of 6PUS-UPU redundantly actuated parallel robot based on inner model position control structure

被引：6
作者：
Wen, Shuhuan [1 ]
Zhang, Baowei [1 ]
Hao, Pengcheng [1 ]
Lam, Hak-Keung [2 ]
Wang, Hongbin [1 ]
机构：
[1] Yanshan Univ, Dept Key Lab Ind Comp Control Engn Hebei Prov, Qinhuangdao 066004, Peoples R China
[2] Kings Coll London, Dept Informat, London WC2R 2LS, England
来源：
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE | 2017年 / 65卷
基金：
中国国家自然科学基金;
关键词：
Parallel robot; Fuzzy control; Fractional order; Inner model control; INTERNAL-MODEL; PERFORMANCE ANALYSIS; PID CONTROLLERS; MANIPULATOR; PLATFORM; DESIGN; TIME;
D O I：
10.1016/j.engappai.2017.07.002
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The 6PUS-UPU parallel robot is a kind of multi-input multi-output, coupled and highly nonlinear system. Conventional control methods are no longer effective for this complex 6PUS-UPU parallel robot. In this paper, the Inner Model Control (IMC) method in the position control loop and the Fractional Order Fuzzy Proportional Integral Derivative (FOPID) control method in the force loop are investigated. To study the validness of the IMC method and the FOPID control method, their performance is compared with other published control methods under disturbance and noise, such as three-loop control method, PI control method and Fuzzy Proportional Integral-Derivative control method. The simulation results clearly demonstrate that the robustness of IMC method and the FOPID control method outperform other methods. Crown Copyright (C) 2017 Published by Elsevier Ltd. All rights reserved.
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页码：200 / 211
页数：12
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