Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Mai The Vu; Kuo Hsien Hsia; Fayez F.M. El-Sousy; Thaned Rojsiraphisal; Reza Rahmani; Saleh Mobayen

doi:10.3390/math10203826

Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Mai The Vu, Kuo Hsien Hsia, Fayez F.M. El-Sousy, Thaned Rojsiraphisal, Reza Rahmani, Saleh Mobayen

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

18 Scopus citations

Abstract

Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design an adaptive fuzzy controller for a cable-driven parallel robot (CDPR). In the proposed controller, the results show that the accuracy of the system performance in tracking the reference value as well as the controller performance speed is better than that of the robust method. In one of the simulation modes, the performance speed of the control system for convergence is reduced and its error is very small, which indicates the proper performance of the proposed adaptive fuzzy method. It should be noted that all simulations are performed in a MATLAB software environment.

Original language	English
Article number	3826
Journal	Mathematics
Volume	10
Issue number	20
DOIs	https://doi.org/10.3390/math10203826
State	Published - Oct 2022

Keywords

adaptive control
composite control
dynamic modeling
fuzzy controller
parallel robot

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10.3390/math10203826

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title = "Adaptive Fuzzy Control of a Cable-Driven Parallel Robot",

abstract = "Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design an adaptive fuzzy controller for a cable-driven parallel robot (CDPR). In the proposed controller, the results show that the accuracy of the system performance in tracking the reference value as well as the controller performance speed is better than that of the robust method. In one of the simulation modes, the performance speed of the control system for convergence is reduced and its error is very small, which indicates the proper performance of the proposed adaptive fuzzy method. It should be noted that all simulations are performed in a MATLAB software environment.",

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AU - Vu, Mai The

AU - Hsia, Kuo Hsien

AU - El-Sousy, Fayez F.M.

AU - Rojsiraphisal, Thaned

AU - Rahmani, Reza

AU - Mobayen, Saleh

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AB - Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design an adaptive fuzzy controller for a cable-driven parallel robot (CDPR). In the proposed controller, the results show that the accuracy of the system performance in tracking the reference value as well as the controller performance speed is better than that of the robust method. In one of the simulation modes, the performance speed of the control system for convergence is reduced and its error is very small, which indicates the proper performance of the proposed adaptive fuzzy method. It should be noted that all simulations are performed in a MATLAB software environment.

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Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

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