Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator

Area of Science:

• Robotics
• Control Systems
• Mechatronics

Background:

• Parallel manipulators are complex robotic systems requiring precise control.
• Trajectory tracking in the presence of uncertainties and disturbances is a significant challenge.
• Existing control methods may struggle with nonlinear dynamics and external factors.

Purpose of the Study:

• To develop a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme.
• To apply this scheme for complex trajectory tracking control of a 2PRP-PPR planar parallel manipulator.
• To address parameter uncertainties and external disturbances affecting the manipulator's performance.

Main Methods:

• A hybrid control law combining feedforward and feedback components.
• Feedforward term includes an estimated perturbed term for compensating unknown effects.
• Feedback utilizes a PID-like fuzzy logic control for enhanced closed-loop stability.

Main Results:

• The proposed control scheme demonstrated effectiveness in complex trajectory tracking.
• The controller successfully compensated for parameter uncertainties and external disturbances.
• Experimental results validated the robustness and performance of the fuzzy control strategy.

Conclusions:

• The presented nonlinear PID-like fuzzy control is a robust solution for trajectory tracking of 3-DOF parallel manipulators.
• The hybrid control approach effectively handles uncertainties and disturbances.
• The method offers enhanced closed-loop stability and reliable performance in practical applications.