Modeling and PDC fuzzy control of planar parallel robot: A differential-algebraic equations approach

摘要

Many works in the literature have studied the kinematical and dynamical issues of parallel robots. But it is still difficult to extend the vast control strategies to parallel mechanisms due to the complexity of the model-based control. This complexity is mainly caused by the presence of multiple closed kinematic chains, making the system naturally described by a set of differential-algebraic equations. The aim of this work is to control a two-degree-of-freedom parallel manipulator. A mechanical model based on differential-algebraic equations is given. The goal is to use the structural characteristics of the mechanical system to reduce the complexity of the nonlinear model. Therefore, a trajectory tracking control is achieved using the Takagi-Sugeno fuzzy model derived from the differential-algebraic equation forms and its linear matrix inequality constraints formulation. Simulation results show that the proposed approach based on differential-algebraic equations and Takagi-Sugeno fuzzy modeling leads to a better robustness against the structural uncertainties.