Fuzzy Immune PID Control for 6-Degrees of Freedom Parallel Platform

Authors: Zhu, Dequan; Mei, Tao; Sun, Lei

Source: Advanced Science Letters, Volume 6 2012 , pp. 836-840(5)

Publisher: American Scientific Publishers

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Abstract:

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.

Keywords: FUZZY CONTROL; IMMUNE PID CONTROL; DYNAMICS MODEL; PARALLEL PLATFORM

Document Type: Research article

DOI: http://dx.doi.org/10.1166/asl.2012.2293

Publication date: 2012-03-01

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ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
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