Fuzzy Immune PID Control for 6-Degrees of Freedom Parallel Platform
To improve the control precision of six degree-of-freedom parallel platform, a fuzzy immune PID control method was presented based on the immune feedback mechanism and fuzzy control theory, and the parameters of PID controller was optimized with hybrid algorithm. First, least square algorithm was used to off-line optimize the parameters of immune control system. Then, genetic algorithm was used to on-line optimize fuzzy immune PID parameters for getting the optimal control performance for six degree-of-freedom parallel platform Simulation results demonstrated that the control method designed gets tracking effect with high precision and speed.
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Document Type: Research Article
Publication date: 2012-03-01
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