Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner

Farzam Tajdari, Mahsa Tajdari, Amin Rezaeian

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

In the presence of complicated kinematic and dynamic, we present a generalizable robust control technique for the 6-Degree of Freedom (6DoF) Stewart integrated platform with revolving, time-delayed torque control actuators to achieve faster, and reliable efficiency for parallel control manipulators. The suggested optimal solution involves the construction of a time-delay Linear Quadratic Integral (LQI) controller integrated with an on-line Artificial Neural Network (ANN) as the cost function gain tuner. The controller is formulated to robustly mitigate the nonlinear system’s real-time tracking error with large time-delay, which is implemented via ADAMS software. The method is validated through simulation experiments to demonstrate that the developed methodology is practical, optimum, and zero-error convergence.
Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation (ICRA)
Subtitle of host publicationProceedings
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages12701-12707
Number of pages7
ISBN (Electronic)978-1-7281-9077-8
ISBN (Print)978-1-7281-9078-5
DOIs
Publication statusPublished - 2021
EventICRA 2021: IEEE International Conference on Robotics and Automation - Hybrid at Xi'an, China
Duration: 30 May 20215 Jun 2021

Conference

ConferenceICRA 2021
CountryChina
CityHybrid at Xi'an
Period30/05/215/06/21

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