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Fuzzy PID Control of Six Degrees of Freedom Parallel Manipulators in Electro Hydraulic Servo System

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Unifying Electrical Engineering and Electronics Engineering

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 238))

Abstract

In order to solve the problems with the 6-DOF parallel robot controlled by traditional PID controller, such as slow response, low control accuracy, and poor robustness, this chapter designs a fuzzy PID controller via fuzzy-adaptive PID control algorithm. The fuzzy control rules are designed through the establishment of a membership function based on given language variables. At last, Matlab is employed to simulate the PID controller and the response of ordinary PID controller to the open-loop transfer function. Experiments show that the designed fuzzy PID controller, with the features of fast response, strengthened robustness, high accuracy, and no overshoot, enhances the performance of control of 6-DOF parallel robot.

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Author information

Authors and Affiliations

  1. School of Electrical and Electronic Information Engineering, Jilin Architectural and Civil Engineering Institute, Changchun, Jilin, 130118, China

    Danhong Sang & Chenghao Han

  2. Intelligent Building System Integration and Energy Control Laboratory in Jilin Province Changchun, Changchun, Jilin, 130118, China

    Danhong Sang & Chenghao Han

Authors
  1. Danhong Sang
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  2. Chenghao Han
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Corresponding author

Correspondence to Danhong Sang .

Editor information

Editors and Affiliations

  1. Dept. Information Systems, California State University, Los Angeles College of Business & Economics, Los Angeles, California, USA

    Song Xing

  2. Electronics and Information Technology S, Nanjing University of Information and Sc, Nanjing, Jiangsu, China, People's Republic

    Suting Chen

  3. Sunnyvale, California, USA

    Zhanming Wei

  4. Electronics and Information Technology S, Nanjing University of Information and Sc, Nanjing, Jiangsu, China, People's Republic

    Jingming Xia

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Sang, D., Han, C. (2014). Fuzzy PID Control of Six Degrees of Freedom Parallel Manipulators in Electro Hydraulic Servo System. In: Xing, S., Chen, S., Wei, Z., Xia, J. (eds) Unifying Electrical Engineering and Electronics Engineering. Lecture Notes in Electrical Engineering, vol 238. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-4981-2_215

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  • DOI: https://doi.org/10.1007/978-1-4614-4981-2_215

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  • Publisher Name: Springer, New York, NY

  • Print ISBN: 978-1-4614-4980-5

  • Online ISBN: 978-1-4614-4981-2

  • eBook Packages: EngineeringEngineering (R0)

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