Publication result detail

Control of Stewart platform with fuzzy logic and artificial neural network compensation

SERRANO, F.; CABALLERO, A.; YEN, K.; BŘEZINA, T.

Original Title

Control of Stewart platform with fuzzy logic and artificial neural network compensation

English Title

Control of Stewart platform with fuzzy logic and artificial neural network compensation

Type

Paper in proceedings (conference paper)

Original Abstract

The paper is focused on the analysis of the Stewart platform proposed for the development of a device that will be used in the determination of mechanical properties of materials and that should substitute spinal segmants of human bodies. Due to nonlinear characteristics of the Stewart platform, classical control techniques, such as PID control, are difficult to design for this kind of mechanical system. Therefore, a fuzzy controller was developed to minimize the positional and rotation errors for the platform in the task space. An ANN compensator was designed to improve the performance of the fuzzy controller and a simulation was done to compare the two controllers.

English abstract

The paper is focused on the analysis of the Stewart platform proposed for the development of a device that will be used in the determination of mechanical properties of materials and that should substitute spinal segmants of human bodies. Due to nonlinear characteristics of the Stewart platform, classical control techniques, such as PID control, are difficult to design for this kind of mechanical system. Therefore, a fuzzy controller was developed to minimize the positional and rotation errors for the platform in the task space. An ANN compensator was designed to improve the performance of the fuzzy controller and a simulation was done to compare the two controllers.

Keywords

stewart platform, control, fuzzy logic, artificial neural network

Key words in English

stewart platform, control, fuzzy logic, artificial neural network

Authors

SERRANO, F.; CABALLERO, A.; YEN, K.; BŘEZINA, T.

RIV year

2010

Released

01.09.2007

Publisher

Springer

Location

Berlin

ISBN

978-3-540-73955-5

Book

Recent Advances in Mechatronics

Edition

Mech

Pages from

156

Pages to

160

Pages count

5

BibTex

@inproceedings{BUT30278,
  author="Fernando {Serrano} and Amaury {Caballero} and Kang {Yen} and Tomáš {Březina}",
  title="Control of Stewart platform with fuzzy logic and artificial neural network compensation",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  series="Mech",
  number="1",
  pages="156--160",
  publisher="Springer",
  address="Berlin",
  isbn="978-3-540-73955-5"
}