Fuzzy Immune PID Control for 6-DOF Parallel Platform

De Quan Zhu; Wen Hua Xie; Lei Sun

doi:10.4028/www.scientific.net/AMM.128-129.890

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 128-129Fuzzy Immune PID Control for 6-DOF Parallel...

Fuzzy Immune PID Control for 6-DOF Parallel Platform

Abstract:

To improve the control precision of six degree-of-freedom parallel platform, a fuzzy immune PID control method was presented based on the immune feedback mechanism and fuzzy control theory, and the parameters of PID controller was optimized with hybrid algorithm. First, least square algorithm was used for off-line optimization to form immune feedback control system. Then, genetic algorithm was used for on-line optimization to get the optimal performance parameters of immune PID control system and the optimal fuzzy proportional parameters. Simulation results demonstrated that the control method designed gets tracking effect with high precision and speed.

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Periodical:

Applied Mechanics and Materials (Volumes 128-129)

Pages:

890-893

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.128-129.890

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Online since:

October 2011

Authors:

De Quan Zhu, Wen Hua Xie, Lei Sun

Keywords:

Dynamics Model, Fuzzy Control, Immune PID Control, Parallel Platform

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