Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator

Londhe, P. S.; Singh, Yogesh; Mohan, Santhakumar; Patre, B. M.; Waghmare, L. M.

doi:10.1016/j.isatra.2016.02.016

Cited by 32 publications

(21 citation statements)

References 60 publications

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“…If the total disturbances containing the internal and external disturbances can be estimated, and then compensated for, (6) can be redesigned as…”

Section: A Model-based Feed-forward Decouplingmentioning

confidence: 99%

“…Therefore, it is essential to develop an effective and efficient tracking control strategy for achieving satisfactory control performance. So far, there have been plenty of advanced control strategies to settle the control problems caused by nonlinearity, uncertainties and strong coupling, such as fuzzy logic control [5], [6], neural network control [7], [8] and sliding mode control [9] and so forth. These studies show that the aforementioned controllers can provide high control performance against nonlinearity and uncertainties.…”

Section: Introductionmentioning

confidence: 99%

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A Robust Fuzzy PD Inverse Dynamics Decoupling Control of Spherical Motion Mechanism With Fuzzy Linear Extended State Observer

Bian

Wang

2021

IEEE Access

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In this paper, a robust adaptive fuzzy proportional-derivative inverse dynamics decoupling control scheme with fuzzy-based linear extended state observer (FLESO) is presented and applied to the trajectory tracking control of a two degree-of-freedom (2-DOF) spherical motion mechanism (SMM). The dynamics of the SMM has the characteristics of multivariable nonlinearity, uncertainties and strong coupling. Uncertainties like the modeling errors and external disturbances affect the tracking performance, and coupling increases the difficulty of controller design and reduces the tracking precision. Therefore, a novel hybrid control scheme that is composed of a fuzzy proportional-derivative (FPD) feedback control with varying gains, inverse dynamic model-based feed-forward decoupling term, FLESO with varying bandwidth, and robust term is developed. The novel control strategy combines the advantages of simplicity and easy design of the FPD control, the effectiveness of the FLESO to handle the modeling errors and external disturbances, and the robustness of the robust term to estimation errors of the FLESO. First, introduce the structure of the SMM and establish the dynamic model. Second, the feed-forward decoupling principle is derived based on the inverse dynamic model. Then the FPD control with two-inputs and two-outputs is designed, whose rule base is derived by the phase plane method. The linear extended state observer is designed, whose bandwidth is tuned via the fuzzy logic system. Furthermore, the asymptotic stability of the proposed controller is proved by the Lyapunov theorem. Finally, the high tracking performance of the proposed controller is validated via both simulation and experiment results. INDEX TERMS Robust and adaptive control, fuzzy proportional-derivative control, fuzzy-based linear extended state observer, inverse dynamics decoupling control, spherical motion mechanism

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“…If the total disturbances containing the internal and external disturbances can be estimated, and then compensated for, (6) can be redesigned as…”

Section: A Model-based Feed-forward Decouplingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Robust Fuzzy PD Inverse Dynamics Decoupling Control of Spherical Motion Mechanism With Fuzzy Linear Extended State Observer

Bian

Wang

2021

IEEE Access

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“…An interesting feature of this concept is the enhanced shape adaptability similar to that of snake-like amphibious robots [10], [11], and to that of the serial manipulator robots [12], [13]. Parallel robots have been recently integrated to aerial robots ( [14], [15]). Inspired on the advantages of these kind of manipulators, the authors of [16] propose an aerial system having three quadrotors acting as the actuators.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Castillo-Zamora

Escareño

Boussaada

et al. 2021

IEEE Trans. Aerosp. Electron. Syst.

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The actual paper presents the modeling and control of a multi-link unmanned aerial system whose dynamics is computed by means of the Euler-Lagrange energy-based approach. The aforementioned system is subjected to lumped disturbances which comprise external disturbances and parametric uncertainties. An Augmented-State Extended Kalman Filter intended to estimate endogenous and exogenous uncertainties is conceived and trajectory-tracking controller fulfilling Lyapunov asymptotic stability is synthesized. A simulation stage is conducted to validate the effectiveness of the proposal.

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“…To improve the performance of the PID controller, Amit Shukla proposed a novel controller that includes a PID controller and a compensator to deal with the coupling terms and varying parameters [6]. Londhe et al [7] proposed a robust nonlinear PID-like fuzzy control scheme for a 3-DOF parallel manipulator, by combining a feed forward term and PID-like fuzzy logic control. However, these methods cannot achieve a high tracking accuracy.…”

Section: Introductionmentioning

confidence: 99%

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Wang

Cui

et al. 2020

Chin. J. Mech. Eng.

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The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity. However, the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic system. In this study, the trajectory control of a 3-DOF symmetric spherical parallel 3UPS/S manipulator is evaluated. Focusing on the highly coupling and nonlinear system dynamics, a compound impedance control method for a hydraulic driven parallel manipulator is proposed, which combines impedance control with the spatial motion characteristics of a parallel manipulator. The control strategy is divided into the inner and outer loops. The inner loop controls the impedance of the actuator in the joint space, and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving platform. Compound impedance control does not require force or pressure sensors and is less dependent on modeling precision. The experimental results show that the compound impedance control effectively improves the tracking accuracy of the moving platform. This research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator, which has high tracking precision with a simple and cheap system configuration.

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Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator

Cited by 32 publications

References 60 publications

A Robust Fuzzy PD Inverse Dynamics Decoupling Control of Spherical Motion Mechanism With Fuzzy Linear Extended State Observer

A Robust Fuzzy PD Inverse Dynamics Decoupling Control of Spherical Motion Mechanism With Fuzzy Linear Extended State Observer

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

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