Simulation and experimental control of a 3-RPR parallel robot using optimal fuzzy controller and fast on/off solenoid valves based on the PWM wave. (March 2016)

• Record Type: Journal Article
• Authors: Moezi, Seyed Alireza; Rafeeyan, Mansour; Zakeri, Ehsan; Zare, Amin
• Is Part Of: ISA transactions. Volume 61(2016:Mar.)
• Page Start: 265
• Page End: 286
• Publication Date: 2016-03
• Subjects: 3-RPR planar parallel robot -- On/off solenoid valves -- PWM wave -- Optimal fuzzy controller -- Modified Cuckoo Optimization Algorithm; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2015.12.005
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: In this paper, a robust optimal fuzzy controller based on the Pulse Width Modulation (PWM) technique is proposed to control a laboratory parallel robot using inexpensive on/off solenoid valves. The controller coefficients are determined using Modified Cuckoo Optimization Algorithm. The objective function of this method is considered such that the results show the position tracking by the robot with less force and more efficiency. Regarding the results of experimental tests, the control strategy with on/off valves indicates good performance such that the maximum value of RMS of error for a circular path with increasing force on the system is 3.1mm. Furthermore, the results show the superiority of the optimal fuzzy controller compared with optimal PID controller in tracking paths with different conditions and uncertainties. Highlights: Control of a 3-RPR robot using optimal fuzzy controller based on PWM technique. Controller robustness against uncertainty of system parameters and external load. Path tracking with less cost and energy consumption using on/off solenoid valves. Improving the controller coefficients using Modified Cuckoo Optimization Algorithm. Better results of optimal fuzzy controller compared to optimal PID controller.