Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot
The remarkable properties of sliding mode control (SMC)—such as robustness, accuracy, and ease of implementation—have contributed to its wide adoption by the control community. To accurately compensate for parametric uncertainties, the switching part of the SMC controller should have gains that are...
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MDPI AG
2022-06-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/10/11/1917 |
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| author | Mai The Vu Khalid A. Alattas Yassine Bouteraa Reza Rahmani Afef Fekih Saleh Mobayen Wudhichai Assawinchaichote |
| author_facet | Mai The Vu Khalid A. Alattas Yassine Bouteraa Reza Rahmani Afef Fekih Saleh Mobayen Wudhichai Assawinchaichote |
| author_sort | Mai The Vu |
| collection | DOAJ |
| description | The remarkable properties of sliding mode control (SMC)—such as robustness, accuracy, and ease of implementation—have contributed to its wide adoption by the control community. To accurately compensate for parametric uncertainties, the switching part of the SMC controller should have gains that are sufficiently large to deal with uncertainties, but sufficiently small to minimize the chattering phenomena. Hence, proper adjustment of the SMC gains is crucial to ensure accurate and robust performance whist minimizing chattering. This paper proposes the design and implementation of an optimal fuzzy enhanced sliding mode control approach for a Stewart parallel robot platform. A systematic approach of designing the table of rules of the fuzzy system so as to provide the required coefficients of the sliding mode controller is proposed. The aim is to attain optimum performance and minimum control effort, thus eliminating the need for computationally expensive expert systems and yielding control outputs below the actuator saturation ranges. The proposed approach was validated using a six degrees-of-freedom Stewart platform subject to external disturbances. Its performance was compared to that of a standard SMC approach. The obtained results and comparative study showed that the proposed control algorithm not only reduces chattering, but also responds effectively to the realistic demands of control energy, while preventing actuator saturation. |
| first_indexed | 2024-03-10T01:05:36Z |
| format | Article |
| id | doaj.art-9659fe4386c44148ba192e89beeae363 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T01:05:36Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-9659fe4386c44148ba192e89beeae3632023-11-23T14:26:52ZengMDPI AGMathematics2227-73902022-06-011011191710.3390/math10111917Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel RobotMai The Vu0Khalid A. Alattas1Yassine Bouteraa2Reza Rahmani3Afef Fekih4Saleh Mobayen5Wudhichai Assawinchaichote6School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, KoreaDepartment of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi ArabiaDepartment of Computer Engineering, College of Computer Engineering and Sciences, Prince Sattam bin Abdulaziz University, Al-Kharj 11942, Saudi ArabiaFuture Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliu 64002, Yunlin, TaiwanDepartment of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA 70504, USAFuture Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliu 64002, Yunlin, TaiwanDepartment of Electronic and Telecommunication Engineering, Faculty of Engineering, King Mongkut’s University of Technology Thonburi, Bangkok 10140, ThailandThe remarkable properties of sliding mode control (SMC)—such as robustness, accuracy, and ease of implementation—have contributed to its wide adoption by the control community. To accurately compensate for parametric uncertainties, the switching part of the SMC controller should have gains that are sufficiently large to deal with uncertainties, but sufficiently small to minimize the chattering phenomena. Hence, proper adjustment of the SMC gains is crucial to ensure accurate and robust performance whist minimizing chattering. This paper proposes the design and implementation of an optimal fuzzy enhanced sliding mode control approach for a Stewart parallel robot platform. A systematic approach of designing the table of rules of the fuzzy system so as to provide the required coefficients of the sliding mode controller is proposed. The aim is to attain optimum performance and minimum control effort, thus eliminating the need for computationally expensive expert systems and yielding control outputs below the actuator saturation ranges. The proposed approach was validated using a six degrees-of-freedom Stewart platform subject to external disturbances. Its performance was compared to that of a standard SMC approach. The obtained results and comparative study showed that the proposed control algorithm not only reduces chattering, but also responds effectively to the realistic demands of control energy, while preventing actuator saturation.https://www.mdpi.com/2227-7390/10/11/1917sliding mode controlvariable gainsliding surfacefuzzy logic controlparallel robot |
| spellingShingle | Mai The Vu Khalid A. Alattas Yassine Bouteraa Reza Rahmani Afef Fekih Saleh Mobayen Wudhichai Assawinchaichote Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot Mathematics sliding mode control variable gain sliding surface fuzzy logic control parallel robot |
| title | Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot |
| title_full | Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot |
| title_fullStr | Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot |
| title_full_unstemmed | Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot |
| title_short | Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot |
| title_sort | optimized fuzzy enhanced robust control design for a stewart parallel robot |
| topic | sliding mode control variable gain sliding surface fuzzy logic control parallel robot |
| url | https://www.mdpi.com/2227-7390/10/11/1917 |
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