Tracking performance improvements of an electrohydraulic Gough-Stewart platform using a fuzzy incremental controller. Issue 2 (11th March 2014)

• Record Type: Journal Article
• Authors: Liu, Guojun; Qu, Zhiyong; Liu, Xiaochu; Han, Junwei
• Is Part Of: Industrial robot. Volume 41:Issue 2(2014)
• Page Start: 225
• Page End: 235
• Publication Date: 2014-03-11
• Subjects: Parallel -- Control -- Fuzzy logic -- Hydraulics -- Stewart platforms; Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-05-2013-355
• Languages: English
• ISSNs: 0143-991X

Abstract

Abstract : Purpose: – Sinusoidal signals are often used as the inputs of the six degree of freedom (DOF) motion simulator platforms. The purpose of this paper is to propose a fuzzy incremental controller (FIC) to improve sinusoidal signal tracking performances of an electrohydraulic Gough-Stewart platform (GSP). Design/methodology/approach: – An FIC is proposed to control an electrohydraulic GSP without any model parameters. The FIC output can be self-organized by only using the hydraulic actuator position information. The control rules are determined by a systematic deterministic method. Findings: – Experimental results show that the proposed FIC is valid and can achieve better tracking performances compared with classical PID controller and a decoupling controller (a model-based controller). Originality/value: – An FIC using a systematic deterministic rule-base determination method is proposed to improve sinusoidal signal tracking performances of electrohydraulic GSP.