Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot

ABSTRACT

The paper proposes a novel method for the nonlinear redundantly actuated parallel robot based on force/position hybrid control structure. In order to solve the limitation of making a compromise for internal model controller, a two-DOF fractional order internal model control algorithm combining the internal model control principle and the fractional order theory is proposed for the position branch of the parallel robot redundantly actuated. This algorithm can realise the adjustment of the dynamic performance and anti-interference of 6PUS-UPU respectively. Aiming at the big force control error fractional order internal model, fuzzy control theory and the fractional order internal model controller are integrated into a new controller-fuzzy fractional order internal model(FFOIM) force control algorithm. Then Admas/Matlab simulation results demonstrate that the proposed algorithm can further reduce the driving force error of the system, and also retain the strong anti-interference of fractional order internal model controller.

KEYWORDS:

• Parallel robot
• force/position hybrid control
• fuzzy fractional order
• internal model control

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

The work was supported by the National Natural Science Foundation of China under [grant numbers 61773333, 61473248].

Notes on contributors

Shuhuan Wen

Shuhuan Wen was born in Heilongjiang, China, on 16 July 1972. She received the PhD degree in control theory and control engineering from the Yanshan University, Qinhuangdao, China in 2005. She is currently a Professor of automatic control in the Department of Electric Engineering, Yanshan University. She has coauthored one book, about 40 papers. Her research interests include humanoid robot control, force/motion control of parallel robot, Fuzzy control, 3-D object recognization and reconstruction. Dr. Wen was a Visiting Scholar of the Ottawa University, Carleton University and Simon Fraser University in Canada from 2011 to 2013.

Di Zhang

Di Zhang was born in HeBei, China, in May 1995. She received the Bachelor degree in the Department of Electrical Engineering, North China University of Science and Technology in 2017. She has coauthored one journal paper. Her research interests are on humanoid robot control and multi-robot cooperation.

Baowei Zhang

Baowei Zhang was born in HeBei, China, in May 1989. He received the Bachelor degree in the Department of Electric Engineering, Chengdu University in 2014. He has coauthored about one journal papers. His research interests are focused on Multi degree of freedom parallel robot control.

Hak Keung Lam

Hak Keung Lam received the B.Eng. (Hons.) and PhD degrees from the Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hong Kong, in 1995 and 2000, respectively. During the period of 2000 and 2005, he worked with the Department of Electronic and Information Engineering at The Hong Kong Polytechnic University as Post-Doctoral Fellow and Research Fellow respectively. He joined as a Lecturer at King's College London in 2005 and currently is a Reader. His current research interests include intelligent control and computational intelligence. He has served as a programme committee member and international advisory board member for various international conferences and a reviewer for various books, international journals and international conferences. He is an associate editor for IEEE Transactions on Fuzzy Systems, IET Control Theory and Applications, International Journal of Fuzzy Systems and Neorocomputing; and guest editor for a number of international journals. He is in the editorial board of Journal of Intelligent Learning Systems and Applications, Journal of Applied Mathematics, Mathematical Problems in Engineering, Modelling and Simulation in Engineering, Annual Review of Chaos Theory, Bifurcations and Dynamical Systems and The Open Cybernetics and Systemics Journal. He is an IEEE senior member. He is the coeditor for two edited volumes: Control of Chaotic Nonlinear Circuits (World Scientific, 2009) and Computational Intelligence and Its Applications (World Scientific, 2012), and the coauthor of the monograph: Stability Analysis of Fuzzy-Model-Based Control Systems (Springer, 2011).

Hongbin Wang

Hongbin Wang Professor in the College of Electrical Engineering, Yanshan University. He received his PhD degree in control theory and control engineering from Yanshan University in 2005. His research interest covers process automation, robot control technology, variable structure control, robust control, and visual servo.

Yongsheng Zhao

Yongsheng Zhao received his bachelor's degree and the master's degree in mechanical engineering from North-east Heavy Machinery Institute, Qiqihaer, Heilongjiang Province, China in 1983 and 1987, respectively. He re-ceived the PhD degree in mechanical engineering from Yanshan University, Qinhuangdao, Hebei Province, China in 1999. He is currently a professor in Robotics Research Center at Yanshan University. He is currently the vice-chancellor of Yanshan University. His research interests include parallel robot, force sensor, numerical control technique, Fuzzy control, etc. He has coauthored one book, more than 80 papers.