Trajectory Tracking Control Of A Stewart Platform


AYAS M. Ş. , ŞAHİN E. , ALTAŞ İ. H.

16th International Power Electronics and Motion Control Conference and Exposition (PEMC), Antalya, Turkey, 21 - 24 September 2014, pp.720-724 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/epepemc.2014.6980582
  • City: Antalya
  • Country: Turkey
  • Page Numbers: pp.720-724

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 integral-error 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.