Publication detail
Control of Stewart platform with fuzzy logic and artificial neural network compensation
SERRANO, F. CABALLERO, A. YEN, K. BŘEZINA, T.
English title
Control of Stewart platform with fuzzy logic and artificial neural network compensation
Type
Paper in proceedings (conference paper)
Language
en
Original abstract
The paper is focused on the analysis of the Stewart platform proposed for the development of a device that will be used in the determination of mechanical properties of materials and that should substitute spinal segmants of human bodies. Due to nonlinear characteristics of the Stewart platform, classical control techniques, such as PID control, are difficult to design for this kind of mechanical system. Therefore, a fuzzy controller was developed to minimize the positional and rotation errors for the platform in the task space. An ANN compensator was designed to improve the performance of the fuzzy controller and a simulation was done to compare the two controllers.
Keywords in English
stewart platform, control, fuzzy logic, artificial neural network
Released
2007-09-01
Publisher
Springer
Location
Berlin
ISBN
978-3-540-73955-5
Book
Recent Advances in Mechatronics
Pages from–to
156–160
Pages count
5
BIBTEX
@inproceedings{BUT30278,
author="Fernando {Serrano} and Amaury {Caballero} and Kang {Yen} and Tomáš {Březina}",
title="Control of Stewart platform with fuzzy logic and artificial neural network compensation",
booktitle="Recent Advances in Mechatronics",
year="2007",
series="Mech",
number="1",
pages="156--160",
publisher="Springer",
address="Berlin",
isbn="978-3-540-73955-5"
}