Fuzzy control of a six-degree motion platform with stability analysis

I. Fang Chung; Hung Hsiang Chang; Chin Teng Lin

doi:10.1109/ICSMC.1999.814111

Fuzzy control of a six-degree motion platform with stability analysis

I. Fang Chung^*, Hung Hsiang Chang, Chin Teng Lin

^*此作品的通信作者

生物醫學資訊研究所

研究成果: Conference article › 同行評審

24 引文斯高帕斯（Scopus）

摘要

This paper addresses the control problem of the six-degree-of-freedom parallel manipulator known as the Stewart platform. This manipulating structure has been well-known for its use as a flight simulator. Recently, it has become an important element in virtual reality (VR) applications for providing motion sensation to users. In this research, we first analyze the hydraulic driving system and the kinematics of the Stewart platform. We then develop a fuzzy controller for the Stewart platform. The stability of the proposed fuzzy control systems are analyzed based on the Popov criterion stability theorem. Experimental results have shown that the designed fuzzy controller can drive the six-degree motion platform accurately, smoothly, and stably.

原文	English
頁（從 - 到）	I-325 - I-330
頁數	6
期刊	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
卷	1
DOIs	https://doi.org/10.1109/ICSMC.1999.814111
出版狀態	Published - 10月 1999
事件	1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn 持續時間: 12 10月 1999 → 15 10月 1999

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10.1109/ICSMC.1999.814111

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title = "Fuzzy control of a six-degree motion platform with stability analysis",

abstract = "This paper addresses the control problem of the six-degree-of-freedom parallel manipulator known as the Stewart platform. This manipulating structure has been well-known for its use as a flight simulator. Recently, it has become an important element in virtual reality (VR) applications for providing motion sensation to users. In this research, we first analyze the hydraulic driving system and the kinematics of the Stewart platform. We then develop a fuzzy controller for the Stewart platform. The stability of the proposed fuzzy control systems are analyzed based on the Popov criterion stability theorem. Experimental results have shown that the designed fuzzy controller can drive the six-degree motion platform accurately, smoothly, and stably.",

author = "Chung, {I. Fang} and Chang, {Hung Hsiang} and Lin, {Chin Teng}",

year = "1999",

month = oct,

doi = "10.1109/ICSMC.1999.814111",

language = "English",

volume = "1",

pages = "I--325 -- I--330",

journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

issn = "0884-3627",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "null ; Conference date: 12-10-1999 Through 15-10-1999",

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TY - JOUR

T1 - Fuzzy control of a six-degree motion platform with stability analysis

AU - Chung, I. Fang

AU - Chang, Hung Hsiang

AU - Lin, Chin Teng

PY - 1999/10

Y1 - 1999/10

N2 - This paper addresses the control problem of the six-degree-of-freedom parallel manipulator known as the Stewart platform. This manipulating structure has been well-known for its use as a flight simulator. Recently, it has become an important element in virtual reality (VR) applications for providing motion sensation to users. In this research, we first analyze the hydraulic driving system and the kinematics of the Stewart platform. We then develop a fuzzy controller for the Stewart platform. The stability of the proposed fuzzy control systems are analyzed based on the Popov criterion stability theorem. Experimental results have shown that the designed fuzzy controller can drive the six-degree motion platform accurately, smoothly, and stably.

AB - This paper addresses the control problem of the six-degree-of-freedom parallel manipulator known as the Stewart platform. This manipulating structure has been well-known for its use as a flight simulator. Recently, it has become an important element in virtual reality (VR) applications for providing motion sensation to users. In this research, we first analyze the hydraulic driving system and the kinematics of the Stewart platform. We then develop a fuzzy controller for the Stewart platform. The stability of the proposed fuzzy control systems are analyzed based on the Popov criterion stability theorem. Experimental results have shown that the designed fuzzy controller can drive the six-degree motion platform accurately, smoothly, and stably.

UR - http://www.scopus.com/inward/record.url?scp=0033315687&partnerID=8YFLogxK

U2 - 10.1109/ICSMC.1999.814111

DO - 10.1109/ICSMC.1999.814111

M3 - Conference article

AN - SCOPUS:0033315687

VL - 1

SP - I-325 - I-330

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

SN - 0884-3627

Y2 - 12 October 1999 through 15 October 1999

ER -

Fuzzy control of a six-degree motion platform with stability analysis

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