Tracking performance improvements of an electrohydraulic Gough-Stewart platform using a fuzzy incremental controller
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.
Keywords
Acknowledgements
This paper is financially supported by the National Natural Science Foundation of China under Grant No. 51105096 and the 921 Manned Space Project of China under Grant No. HgdJG00401D04.
Citation
Liu, G., Qu, Z., Liu, X. and Han, J. (2014), "Tracking performance improvements of an electrohydraulic Gough-Stewart platform using a fuzzy incremental controller", Industrial Robot, Vol. 41 No. 2, pp. 225-235. https://doi.org/10.1108/IR-05-2013-355
Publisher
:Emerald Group Publishing Limited
Copyright © 2014, Emerald Group Publishing Limited