Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

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 p...

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Bibliographic Details
Published in:Mathematics (Basel) 2022-10, Vol.10 (20), p.3826
Main Authors: Vu, Mai-The, Hsia, Kuo-Hsien, El-Sousy, Fayez F. M., Rojsiraphisal, Thaned, Rahmani, Reza, Mobayen, Saleh
Format: Article
Language:English
Subjects:
Accuracy
Adaptive control
Cables
composite control
Control algorithms
Control systems design
Controllers
Design
dynamic modeling
Fuzzy control
fuzzy controller
Laboratories
parallel robot
Robots
Tensile strength
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Summary: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.
ISSN:2227-7390
2227-7390
DOI:10.3390/math10203826