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Development of a Self-tuning PID Controller on Hydraulically Actuated Stewart Platform Stabilizer with Base Excitation

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  • Robot and Applications
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Abstract

Stewart platform is a six degrees of freedom (DOF) parallel robot manipulator with rather high powerto- weight ratio and more accurate positioning that of conventional serial-link robots. Nevertheless, modelling and control of parallel Stewart platform is so abstruse and significant for vibration isolation, especially in the case with base excitation in stabilizers. In this paper a clear nonlinear dynamic model of hydraulically actuated Stewart platform with 6-DOF is presented via Kane’s method. The dynamics of Stewart platform embedded with hydraulic actuator equations is utilized to design a modern control scheme with the aim of vibration isolation. In order to attenuate upper platform vibration under uncertain base excitation profile, a novel neural network based selftuning PID (NN-PID) control scheme is implemented. Following numerical simulation results, the proposed control method satisfies vibration isolation of the upper platform under uncertain base excitation and shows well robustness against external disturbances. It is concluded that the controller is of fine adjustability and can isolate a wide range of external disturbances.

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Authors and Affiliations

  1. Mechanical Engineering faculty of Shahid Beheshti University, Tehran, Iran

    Mostafa Taghizadeh & M. Javad Yarmohammadi

Authors
  1. Mostafa Taghizadeh
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  2. M. Javad Yarmohammadi
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Corresponding author

Correspondence to M. Javad Yarmohammadi.

Additional information

Recommended by Associate Editor Kyoungchul Kong under the direction of Editor Hyun-Seok Yang.

Mostafa Taghizadeh received his Ph.D. degree in Mechanical Engineering from K.N. Toosi University of Technology, Iran in 2010. He is currently an Associate Professor of Mechanical Engineering faculty of Shahid Beheshti University, Tehran, Iran, His research interests include nonlinear control, pneumatic and hydraulic systems, and robotic.

M. Javad Yarmohammadi received his B.S. and M.S. degrees in Mechanical Engineering from Tabriz University, Iran, in 2015 and 2013, respectively. He is currently a Ph.D. student of Mechanical Engineering faculty of Shahid Beheshti University, Tehran, Iran. His research interests include nonlinear control, LPV control, wind turbine control, and robotic.

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Taghizadeh, M., Javad Yarmohammadi, M. Development of a Self-tuning PID Controller on Hydraulically Actuated Stewart Platform Stabilizer with Base Excitation. Int. J. Control Autom. Syst. 16, 2990–2999 (2018). https://doi.org/10.1007/s12555-016-0559-8

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  • DOI: https://doi.org/10.1007/s12555-016-0559-8

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