The design of a fuzzy-based adaptive digital controller for a three-degrees-of-freedom in-parallel actuated manipulator [for flight simulator]

This paper describes in detail the design of an innovative fuzzy-based adaptive digital PID controller for a three-degrees-of-freedom (3-DOF) in-parallel actuated manipulator. Conventionally, tuning the gains of the PID controller requires experience and know-how, and has to be performed experimentally. The proposed innovative fuzzy-based PID automatic adjustment scheme is an adaptive approach that is capable of self-tuning the controller to satisfy a control locus on an operating condition and disturbance without the mentioned overheads. A prototype controller, using a MOTOROLA MC68HC16 microcontroller, was built and tested on a 3-DOF in-parallel actuated manipulator. The laboratory setup of the manipulator with the developed fuzzy-based controller, which serves as the motion platform of a flight simulator, is also demonstrated