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

Conference paper (2021)

Authors

F. Tajdari Mechatronic Design - IDE
Mahsa Tajdari Northwestern University
Amin Rezaeian California State University Long Beach
Research Group
Mechatronic Design (IDE) (TU Delft)
Copyright: © 2021 F. Tajdari, Mahsa Tajdari, Amin Rezaeian
DOI
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https://doi.org/10.1109/ICRA48506.2021.9561010
More Info
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Published Date

2021

Language

English

Reuse Rights

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Faculty

Industrial Design Engineering

Department

Sustainable Design Engineering

Research Group

Mechatronic Design

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.