GWO-Based Tuning of LQR-PID Controller for a 3-DOF Parallel Manipulator

Choubey, Chandan; Ohri, Jyoti

doi:10.1080/03772063.2021.1958068

Cited by 3 publications

(1 citation statement)

References 31 publications

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“…This control scheme has a more efficient, accurate, and high degree of robustness against external disturbance. [44][45][46][47] In these researches, the majority of control schemes are model-based control and hence require an exact mathematical model of the motion platform system to achieve better control performance. Gao et al 48 proposed a distributed filtering method with wireless sensor networks to deal with the fault detection problem for a class of interval type-2 (IT2) Takagi-Sugeno (T-S) fuzzy model based (FMB) nonlinear stochastic systems.…”

Section: Introductionmentioning

confidence: 99%

A simplified approach to develop fuzzy logic controller with disturbance estimator for control of a planar parallel (2PRP-PPR) motion platform

Choudhury

Londhe²,

Mohan

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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This work presents, a robust position tracking control of a 3-degrees of freedom 2PRP-PPR (P: Active Prismatic joint, P: Passive prismatic joint, R; Revolute joint) parallel motion mechanism. For controlling the motion of the defined platform, a simple method to develop a fuzzy logic controller called as robust single input fuzzy logic control (RSIFLC) algorithm is presented and used for the complex workspace trajectory tracking control problem with the existence of outside disturbances, variable uncertainties, and inner noises. The suggested control method comprises two sections: The first section considers a feed-forward expression to increase control action and a disturbance estimator to account for anonymous factors like outer disturbances and un-modeled dynamics. The second section employs single input fuzzy logic control as a feedback component to improve the system’s overall closed-loop stability. The experimental results demonstrate the superiority of the suggested control algorithm over traditional control schemes.

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