Tracking performance improvements of an electrohydraulic Gough-Stewart platform using a fuzzy incremental controller

Abstract

Purpose– Sinusoidal signals are often used as the inputs of the six degree of freedom (DOF) motion simulator platforms. The purpose of this paper is to propose a fuzzy incremental controller (FIC) to improve sinusoidal signal tracking performances of an electrohydraulic Gough-Stewart platform (GSP).Design/methodology/approach– An FIC is proposed to control an electrohydraulic GSP without any model parameters. The FIC output can be self-organized by only using the hydraulic actuator position information. The control rules are determined by a systematic deterministic method.Findings– Experimental results show that the proposed FIC is valid and can achieve better tracking performances compared with classical PID controller and a decoupling controller (a model-based controller).Originality/value– An FIC using a systematic deterministic rule-base determination method is proposed to improve sinusoidal signal tracking performances of electrohydraulic GSP.