An improved fuzzy model predictive control algorithm based on the force/position control structure of the five-degree of freedom redundant actuation parallel robot

[摘要] In this article, two new algorithms of the redundant force branch of 6-PUS/UPU parallel robot are proposed. They are model predictive control combining with proportional, integral, and differential algorithm and fuzzy combining with model predictive control algorithm. The shortcoming of the traditional model predictive control algorithm is complex adjustment, large amount of calculation, the dynamic performance effect of the system. The proposed PID model predictive control algorithm can make the controller parameters adjustment more convenient. However, PID model predictive control algorithm can’t obtain good control performance under sudden change in situation. Combining model predictive control algorithm with fuzzy theory, fuzzy model predictive control algorithm has better anti-interference ability than PID model predictive control algorithm and can reduce predictive horizon length as possible as it can. Simulation results show that fuzzy model predictive control algorithm can effectively improve real-time performance of control system, the dynamic tracking performance and robustness than the traditional model predictive control and PID model predictive control algorithm.

[学科分类] 自动化工程

[关键词] Parallel robot;force/position hybrid control;redundant actuation;PID model predictive control;fuzzy model predictive control