Fractional Order Fuzzy PID Tracking Control of Stewart Platform Using PSO


Karahan O. , Bingül Z.

6th International Conference on Control Engineering Information Technology - CEIT 2018, İstanbul, Türkiye, 25 - 27 October 2018

  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye

Özet

In this paper, a fractional order fuzzy PID (FOFPID) tuned with PSO is developed to realize high precision tracking control of a 6 DOF Stewart Platform (SP) in joint space. In design of FOFPID controller, the parameters of membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal are optimized off-line with particle swarm optimization (PSO) algorithm. Using the dynamic model of the SP, responses of the PID, fractional order PID (FOPID) and fuzzy PID controllers tuned with PSO are obtained for given different trajectories in simulation environment. To verify simulation performance of the controllers, the real time trajectory tracking experiments are conducted by applying the optimum parameters of the controllers. The experimental results indicate that the FOFPID controller can improve the control performance and reduce tracking errors of SP.