International Journal of Computational Intelligence Systems

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Volume 14, Issue 1, 2021, Pages 1597 - 1606

Par4 Parallel Robot Trajectory Tracking Control Based on DMR-GWO2 and Fuzzy Predictive

Authors
Xiaoqing Zhang1, 2, *, ORCID, Zhengfeng Ming2
1School of Physics and Electronic Engineering, Xianyang Normal University, No. 43, Wenlin Road, Weicheng District, Xianyang, 712000, Shaanxi, China
2School of Mechano-Electronic Engineering, Xidian University, No. 2, South Taibai Road, Hi-Tech Development Zone, Xi'an, 710000, Shaanxi, China
*Corresponding author. Email: 249140543@qq.com
Corresponding Author
Xiaoqing Zhang
Received 22 March 2021, Accepted 9 May 2021, Available Online 19 May 2021.
DOI
10.2991/ijcis.d.210514.001How to use a DOI?
Keywords
Parallel robot; Trajectory tracking control; Type-2 fuzzy predictive compensation controller; Grey wolf optimizer
Abstract

A dynamic Grey Wolf Optimizer (GWO) is proposed, noted as DGWO2, and a novel dynamic improved GWO algorithm is obtained after transferring the mutation operator and the eliminating–reconstructing mechanism to the DGWO2, noted as DMR-GWO2. A Type-2 fuzzy predictive compensation PID trajectory tracking controller based on the DMR-GWO2 is proposed to attain the tracking targets for the trajectory control of Par4 parallel robot. In the trajectory tracking controller, the DMR-GWO2 is designed for optimizing the Type-2 fuzzy logic controller which is in parallel with the PID controller to speed up the response of the parallel robot and to get the high adaptive capacity of the whole system. One input of the Type-2 fuzzy logic controller is the tracking error, while the other input is the sum of the derivative of the tracking error and the change rate of the expected angle. Finally, the experiments verify the effectiveness of the designed trajectory tracking controller and the tracking errors are small.

Copyright
© 2021 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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<Previous Article In Issue
Next Article In Issue>
Journal
International Journal of Computational Intelligence Systems
Volume-Issue
14 - 1
Pages
1597 - 1606
Publication Date
2021/05/19
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.d.210514.001How to use a DOI?
Copyright
© 2021 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Xiaoqing Zhang
AU  - Zhengfeng Ming
PY  - 2021
DA  - 2021/05/19
TI  - Par4 Parallel Robot Trajectory Tracking Control Based on DMR-GWO2 and Fuzzy Predictive
JO  - International Journal of Computational Intelligence Systems
SP  - 1597
EP  - 1606
VL  - 14
IS  - 1
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.d.210514.001
DO  - 10.2991/ijcis.d.210514.001
ID  - Zhang2021
ER  -