Designing a stable model-based fuzzy controller for a novel 6-DOF
parallel manipulator with rotary actuators
Azizan, H.; Keshmiri,
M.; Jafarinasab, M.;
Mechanical Engineering Department, Isfahan University of Technology, Iran
Mechanical Engineering Department, Isfahan University of Technology, Iran
This paper appears in: Advanced
Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Issue Date: 3-7 July 2011
On page(s): 1034 - 1039
Location: Budapest, Hungary
ISSN: 2159-6247
Print ISBN: 978-1-4577-0838-1
Digital Object Identifier: 10.1109/AIM.2011.6027125
Date of Current Version: 26 September 2011
Issue Date: 3-7 July 2011
On page(s): 1034 - 1039
Location: Budapest, Hungary
ISSN: 2159-6247
Print ISBN: 978-1-4577-0838-1
Digital Object Identifier: 10.1109/AIM.2011.6027125
Date of Current Version: 26 September 2011
ABSTRACT
This paper focuses on the designing of a stable
model-based fuzzy controller for a six degrees of freedom (DOF) parallel
manipulator with rotary actuators. This type of parallel manipulator has a
challenging dynamics to control. Based on the nonlinear dynamical model of the
system a Takagi-Sugeno fuzzy model of the system is presented through a
combination of linear systems. The concept of Parallel Distributed Compensation
(PDC) is used to design a fuzzy controller from the Takagi-Sugeno fuzzy model
of the manipulator. Stability of the designed fuzzy control system is
guaranteed via Lyapunov approach. The sufficient conditions for the existence
of an appropriate controller are presented in terms of Linear Matrix
Inequalities (LMIs). To show the efficiency of the proposed approach, numerical
simulations are performed for a typical system.
You can read this paper here
Sliding mode control of a novel 6-DOF parallel
manipulator with rotary actuators
Jafarinasab, M.; Keshmiri,
M.; Azizan, H.; Danesh, M.;
Mechanical Engineering Department of Isfahan University of Technology, Iran
Mechanical Engineering Department of Isfahan University of Technology, Iran
This paper appears in: Methods and
Models in Automation and Robotics (MMAR), 2011 16th International Conference on
Issue Date: 22-25 Aug. 2011
On page(s): 218 - 223
Location: Miedzyzdroje, Poland
Print ISBN: 978-1-4577-0912-8
Digital Object Identifier: 10.1109/MMAR.2011.6031348
Date of Current Version: 29 September 2011
Issue Date: 22-25 Aug. 2011
On page(s): 218 - 223
Location: Miedzyzdroje, Poland
Print ISBN: 978-1-4577-0912-8
Digital Object Identifier: 10.1109/MMAR.2011.6031348
Date of Current Version: 29 September 2011
ABSTRACT
A novel six-DOF parallel manipulator is introduced.
Kinematics analysis is discussed and using Lagrange equations for constrained
systems the full dynamic modeling is performed. Sliding mode control as a class
of very special nonlinear control is proposed to control the position of the
manipulator in the presence of parametric uncertainties. Stability of the
system is guaranteed via Lyapunov approach. An intensive series of simulation
studies has been fulfilled to show the abilities of the proposed controller for
trajectory tracking even in the case of large parameter variations.
You can read this paper here
