Trajectory tracking control of a stewart platform

Abstract

This paper presents a fuzzy logic control approach for trajectory tracking of Stewart platform which is a six degrees of freedom parallel manipulator. In order to have a robust tracking a fuzzy logic controller, convenient for nonlinear complex systems, is developed. The performance of the developed FLC is compared with classical PID controller. The performances of both controllers are measured using Integral Squared Error performance measure method which is a version of the integralerror based performance measure methods. The results of the simulations given in Section IV show that the developed fuzzy logic controller has excellent tracking performance. In brief, the simulation results confirm the effectiveness of the developed controller.