Detail publikace

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

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

Originální název

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

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

stewart platform, control, fuzzy logic, artificial neural network

Autoři

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

Rok RIV

2007

Vydáno

1. 9. 2007

Nakladatel

Springer

Místo

Berlin

ISBN

978-3-540-73955-5

Kniha

Recent Advances in Mechatronics

Edice

Mech

Číslo edice

1

Strany od

156

Strany do

160

Strany počet

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"
}