Title :
Gough-Stewart Platform Control: A Fuzzy control approach.
Author :
Rémillard, Vincent ; Boukas, El-Kébir
Author_Institution :
Dept. of Mech. Eng., Ecole Polytech. de Montreal, Que.
Abstract :
This paper deals with the control of the Gough-Stewart platform (GSP) which is very well known to be a very difficult dynamical system to control. The GSP we are considering in this paper is a six degree of-freedom (DOF) parallel manipulator. The dynamic of such a system is highly nonlinear. A Takagi and Sugeno (T-S) fuzzy model is proposed for this purpose to perform the analysis and the design of a stabilizing controller. The design conditions for this controller are in the linear matrix inequality (LMI) setting which makes their resolution easy using existing tools in the marketplace. To show the efficiency of our proposed results, simulation results with the designed controller are done on the real behavior of the platform
Keywords :
control system synthesis; fuzzy control; linear matrix inequalities; manipulators; stability; time-varying systems; Gough-Stewart platform control; Takagi and Sugeno fuzzy model; dynamical system; fuzzy control; linear matrix inequality; six degree of-freedom parallel manipulator; stability; Control systems; Fuzzy control; Kinematics; Leg; Mechanical engineering; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; State feedback; Telephony;
Conference_Titel :
Fuzzy Information Processing Society, 2006. NAFIPS 2006. Annual meeting of the North American
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0363-4
Electronic_ISBN :
1-4244-0363-4
DOI :
10.1109/NAFIPS.2006.365869
