Control of a stewart platform with fuzzy logic and artificial neural network compensation Conference

Serrano, F, Caballero, A, Yen, K et al. (2007). Control of a stewart platform with fuzzy logic and artificial neural network compensation . 156-160. 10.1007/978-3-540-73956-2_32

cited authors

  • Serrano, F; Caballero, A; Yen, K; Brezina, T

authors

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 that should substitute spinal segments of human bodies. Due to the 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. © 2007 Springer-Verlag Berlin Heidelberg.

publication date

  • December 1, 2007

Digital Object Identifier (DOI)

International Standard Book Number (ISBN) 13

start page

  • 156

end page

  • 160