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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bin Zi Zhencai Zhu Mingsheng Wei |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu, China (Bin Zi; Zhencai Zhu) || School of Physics and Electronic Engineering, Xuzhou Normal University, Jiangsu, China (Mingsheng Wei) |
| Abstract | This paper is concerned with trajectory control system of cable-based parallel mechanisms (CPM) based on dynamics. Firstly, the dynamic formulation of the CPM with non-negligible cable mass was established by means of Newton-Euler formulation. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled system, a decentralized control approach is proposed, and an immune proportional-integral-derivative controller, using fuzzy logic controller as anti-body-suppressed function to improve the self-tuning capability, is developed for each subsystem of the CPM to realize the trajectory tracking of the end-effector. Finally, simulation is performed to validate and highlight properties of the proposed control strategy in the presence of external disturbances. |
| Starting Page | 1398 |
| Ending Page | 1403 |
| File Size | 189206 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424436071 |
| DOI | 10.1109/ICINFA.2009.5205135 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-22 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Couplings Fuzzy logic Proportional control Three-term control Poles and towers Mechanical cables Pi control Nonlinear control systems Control systems Nonlinear dynamical systems |
| Content Type | Text |
| Resource Type | Article |
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