title: Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator.
abstract: In this paper, a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator (motion platform) with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances. The proposed control law consists of mainly two parts: first part uses a feed forward term to enhance the control activity and estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics, and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. Experimental results are presented to show the effectiveness of the proposed control scheme.
authors.affiliation: Department of Instrumentation Engineering, Shri Guru Gobind Singhji Institute of Engineering and Technology, Vishnupuri, Nanded, Maharashtra, India. Electronic address: pandurangl97@gmail.com.
authors.forename: P S
authors.initials: PS
authors.lastname: Londhe
authors.affiliation: Discipline of Mechanical Engineering, School of Engineering, Indian Institute of Technology, Indore, Madhya Pradesh, India. Electronic address: yogeshsingh15@gmail.com.
authors.forename: Yogesh
authors.initials: Y
authors.lastname: Singh
authors.affiliation: Discipline of Mechanical Engineering, School of Engineering, Indian Institute of Technology, Indore, Madhya Pradesh, India. Electronic address: santhakumar@iiti.ac.in.
authors.forename: M
authors.initials: M
authors.lastname: Santhakumar
authors.affiliation: Department of Instrumentation Engineering, Shri Guru Gobind Singhji Institute of Engineering and Technology, Vishnupuri, Nanded, Maharashtra, India. Electronic address: bmpatre@ieee.org.
authors.forename: B M
authors.initials: BM
authors.lastname: Patre
authors.affiliation: Department of Instrumentation Engineering, Shri Guru Gobind Singhji Institute of Engineering and Technology, Vishnupuri, Nanded, Maharashtra, India. Electronic address: lmwaghmare@yahoo.com.
authors.forename: L M
authors.initials: LM
authors.lastname: Waghmare
keywords: Fuzzy logic control; Lyapunov stability; Motion control; Nonlinear PID; Planar parallel manipulator; Robust control