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Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Author

Listed:
  • Mai-The Vu

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea)

  • Kuo-Hsien Hsia

    (Department of Electrical Engineering, National Yunlin University of Science and Technology, 123 University Road, Douliou 64002, Taiwan)

  • Fayez F. M. El-Sousy

    (Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 16278, Saudi Arabia)

  • Thaned Rojsiraphisal

    (Advanced Research Center for Computational Simulation, Department of Mathematics, Faculty of Science, Chiang Mai University, Chiang Mai 50200, Thailand
    Data Science Research Center, Department of Mathematics, Faculty of Science, Chiang Mai University, Chiang Mai 50200, Thailand)

  • Reza Rahmani

    (Multidisciplinary Center for Infrastructure Engineering, Shenyang University of Technology, Shenyang 110870, China)

  • Saleh Mobayen

    (Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou 640301, Taiwan)

Abstract

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.

Suggested Citation

  • Mai-The Vu & Kuo-Hsien Hsia & Fayez F. M. El-Sousy & Thaned Rojsiraphisal & Reza Rahmani & Saleh Mobayen, 2022. "Adaptive Fuzzy Control of a Cable-Driven Parallel Robot," Mathematics, MDPI, vol. 10(20), pages 1-16, October.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:20:p:3826-:d:943911
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    References listed on IDEAS

    as
    1. Mai The Vu & Khalid A. Alattas & Yassine Bouteraa & Reza Rahmani & Afef Fekih & Saleh Mobayen & Wudhichai Assawinchaichote, 2022. "Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot," Mathematics, MDPI, vol. 10(11), pages 1-36, June.
    2. Li, Jun-Feng & Jahanshahi, Hadi & Kacar, Sezgin & Chu, Yu-Ming & Gómez-Aguilar, J.F. & Alotaibi, Naif D. & Alharbi, Khalid H., 2021. "On the variable-order fractional memristor oscillator: Data security applications and synchronization using a type-2 fuzzy disturbance observer-based robust control," Chaos, Solitons & Fractals, Elsevier, vol. 145(C).
    3. Thaned Rojsiraphisal & Saleh Mobayen & Jihad H. Asad & Mai The Vu & Arthur Chang & Jirapong Puangmalai, 2021. "Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation," Mathematics, MDPI, vol. 9(16), pages 1-17, August.
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