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

Farzam Tajdari; Mahsa Tajdari; Amin Rezaeian

doi:10.1109/ICRA48506.2021.9561010

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

Farzam Tajdari, Mahsa Tajdari, Amin Rezaeian

Mechatronic Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

10 Citations (Scopus)

74 Downloads (Pure)

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 language	English
Title of host publication	2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Subtitle of host publication	Proceedings
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	12701-12707
Number of pages	7
ISBN (Electronic)	978-1-7281-9077-8
ISBN (Print)	978-1-7281-9078-5
DOIs	https://doi.org/10.1109/ICRA48506.2021.9561010
Publication status	Published - 2021
Event	ICRA 2021: IEEE International Conference on Robotics and Automation - Hybrid at Xi'an, China Duration: 30 May 2021 → 5 Jun 2021

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2021-May
ISSN (Print)	1050-4729

Conference

Conference	ICRA 2021
Country/Territory	China
City	Hybrid at Xi'an
Period	30/05/21 → 5/06/21

Access to Document

10.1109/ICRA48506.2021.9561010

IEEE_conference__rotary_delayAccepted author manuscript, 1.59 MB

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Tajdari, F., Tajdari, M., & Rezaeian, A. (2021). Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner. In 2021 IEEE International Conference on Robotics and Automation, ICRA 2021: Proceedings (pp. 12701-12707). Article 9561010 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2021-May). IEEE. https://doi.org/10.1109/ICRA48506.2021.9561010

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title = "Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner",

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{\textquoteright}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.",

author = "Farzam Tajdari and Mahsa Tajdari and Amin Rezaeian",

year = "2021",

doi = "10.1109/ICRA48506.2021.9561010",

language = "English",

isbn = "978-1-7281-9078-5",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "12701--12707",

booktitle = "2021 IEEE International Conference on Robotics and Automation, ICRA 2021",

address = "United States",

note = "ICRA 2021 : IEEE International Conference on Robotics and Automation ; Conference date: 30-05-2021 Through 05-06-2021",

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Tajdari, F, Tajdari, M & Rezaeian, A 2021, Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner. in 2021 IEEE International Conference on Robotics and Automation, ICRA 2021: Proceedings., 9561010, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2021-May, IEEE, Piscataway, NJ, USA, pp. 12701-12707, ICRA 2021, Hybrid at Xi'an, China, 30/05/21. https://doi.org/10.1109/ICRA48506.2021.9561010

Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner. / Tajdari, Farzam; Tajdari, Mahsa; Rezaeian, Amin.
2021 IEEE International Conference on Robotics and Automation, ICRA 2021: Proceedings. Piscataway, NJ, USA: IEEE, 2021. p. 12701-12707 9561010 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2021-May).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Tajdari, Farzam

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N2 - 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.

AB - 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.

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M3 - Conference contribution

SN - 978-1-7281-9078-5

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021

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Tajdari F, Tajdari M, Rezaeian A. Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner. In 2021 IEEE International Conference on Robotics and Automation, ICRA 2021: Proceedings. Piscataway, NJ, USA: IEEE. 2021. p. 12701-12707. 9561010. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA48506.2021.9561010

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

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Implementation and intelligent gain tuning feedback–based optimal torque control of a rotary parallel robot

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