A 3-PRS Parallel Robot Control Based on Fuzzy-PID Controller

被引：6
|
作者：
Tavoosi, Jafar [1 ]
Mohammadi, Fazel [2 ]
机构：
[1] Ilam Univ, Dept Elect Engn, Ilam, Iran
[2] Univ Windsor, Elect & Comp Engn ECE Dept, Windsor, ON N9B 1K3, Canada
来源：
2019 6TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION AND AUTOMATION (ICCIA) | 2019年
关键词：
3-PRS Parallel Robot; Fuzzy-PID Controller; Type-II Fuzzy System;
D O I：
10.1109/iccia49288.2019.9030860
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new Type-II Fuzzy-PID based approach is proposed to control a 3-PRS parallel robot. 3-PRS parallel robots are very common in industrial applications due to their high precision. In addition, according to the unique kinematic characteristics of these kinds of robots, they are capable of avoiding the singularity at the zenith angle during the tracking. The two inputs of the Fuzzy System (FS) are the error and its changes. The proposed controller applies the best control signal to the robot system by determining the PID coefficients. The simulation results confirm that a PID controller tuned by the Type-II Fuzzy system is an effective method to control these kinds of robots. The performance comparison of the Type-I and Type-II Fuzzy systems indicates the superiority of the Type-II Fuzzy system.
引用
收藏
页码：97 / 100
页数：4
相关论文
共 50 条
  • [31] ASIC Implementation of Fuzzy-PID Controller for Aircraft Roll Control
    John, Subash
    Rasheed, Abdul Imran
    Redd, Viswanath K.
    2013 INTERNATIONAL CONFERENCE ON CIRCUITS, CONTROLS AND COMMUNICATIONS (CCUBE), 2013,
  • [32] Study and Analysis of the 3-PRS Parallel Mechanism
    Chen Chun
    Huang Yumei
    Han Xuzhao
    Cheng Xiang
    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 1515 - 1520
  • [33] Decentralized Control of a 3-PRS Parallel Manipulator Using a Decoupled Model
    Tsai, Meng-Shiun
    Yuan, Wei-Hsiang
    2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011), 2011, : 775 - 779
  • [34] Fuzzy-PID controller for Two Wheels Balancing Robot Based on STM32 Microcontroller
    Mai The Anh
    Dang Thai Son
    Anisimov, D. N.
    Ekaterina, Fedorova
    2019 INTERNATIONAL CONFERENCE ON ENGINEERING TECHNOLOGIES AND COMPUTER SCIENCE (ENT): INNOVATION & APPLICATION, 2019, : 20 - 24
  • [35] Fuzzy-PID Based Heating Control System
    Dong, Shu-cheng
    Jiang, Feng-xin
    Chen, Jie
    Zhang, Hong-fei
    Wang, Jian
    2016 IEEE-NPSS REAL TIME CONFERENCE (RT), 2016,
  • [36] A SUPERVISORY FUZZY-PID CONTROLLER FOR A MIMO BIPED ROBOT BALANCE IN FRONTAL PLANE
    Zomorodi-Moghadam, Hesam
    Haghshenas-Jaryani, Mahdi
    Farahmand, Farzam
    PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2008, VOL 2, 2009, : 307 - 314
  • [37] Design of Fuzzy-PID Controller for Path Tracking of Mobile Robot with Differential Drive
    Tiep, Do Khac
    Lee, Kinam
    Im, Dae-Yeong
    Kwak, Bongwoo
    Ryoo, Young-Jae
    INTERNATIONAL JOURNAL OF FUZZY LOGIC AND INTELLIGENT SYSTEMS, 2018, 18 (03) : 220 - 228
  • [38] Maximum Power Tracking Control for Current Power System Based on Fuzzy-PID Controller
    Mao, Zhaoyong
    Huang, Weichao
    Yang, Chenguang
    Cui, Rongxin
    Sharma, Sanjay
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2015, PT I, 2015, 9244 : 69 - 80
  • [39] Control Performance Improvement of Hydro-Viscous Clutch Based on Fuzzy-PID Controller
    Liao, Xiangping
    Yang, Shuai
    Hu, Dong
    Gong, Guofang
    Peng, Xiongbin
    ENERGIES, 2021, 14 (24)
  • [40] Self-tuning Parameters Based on Fuzzy-PID Controller
    Yang Wenhao
    Zhang Lili
    Dai Wenzhan
    PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 4, 2008, : 382 - 386
12345