Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Autor: Mai-The Vu, Kuo-Hsien Hsia, Fayez F. M. El-Sousy, Thaned Rojsiraphisal, Reza Rahmani, Saleh Mobayen
Jazyk: angličtina
Rok vydání: 2022
Předmět:
Zdroj: Mathematics, Vol 10, Iss 20, p 3826 (2022)
Druh dokumentu: article
ISSN: 10203826
2227-7390
DOI: 10.3390/math10203826
Popis: 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.
Databáze: Directory of Open Access Journals
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