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, Türkiye, 21 - 24 Eylül 2014, ss.720-724 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/epepemc.2014.6980582
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.720-724
  • Karadeniz Teknik Üniversitesi Adresli: Evet

Özet

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.