Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

• DOI: 10.3390/electronics10060745
• Publication Date: 2021-03-22T15:13:26Z
• Authors: Marco Carpio; Roque Saltaren; Julio Viola; Cristian Calderon; Juan Guerra
• Keywords: Position (finance)

The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model mechanism, considering that its approach involves non-linearities associated with different components, such as and pulleys. In this work, a simple practical decoupled control structure proposal requires practically no analysis was developed for position planar cable-driven parallel (CDPR). This implemented using non-linear fuzzy PID classic controllers, allowing performance comparisons to established. For development research, first system proposed, based on an involved in movement end-effector (EE) they act independently each axis. Then tuning rules carried out Ziegler–Nichols applied controllers. Finally, simulations were performed MATLAB Simulink Simscape tools. results obtained allowed us observe effectiveness proposed structure, noticeably better