Fuzzy PID control of Stewart platform

Abstract

Stewart platform equipped with asymmetric hydraulic cylinder controlled by symmetric valve has features such as nonlinearity, time variance and strong interference, which lead to various difficulties in control process. Fuzzy control algorithm is an in-time regulating parameters algorithm, which has the ability to emulate the behavior of a human operator. Fuzzy logic control shows its priority in real-time nonlinear system control. This paper represents a detailed way of hydraulic servo system modeling. A control algorithm based on fuzzy logic control algorithm combined with PID control algorithm is established. Computer simulations and experiments show that the position servo system can obtain a satisfactory performance using fuzzy PID controller.