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

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
1
DOIs
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 199915 10月 1999

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