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This paper focuses on the designing of a stable model-based fuzzy controller for a six degrees of freedom (DOF) parallel manipulator with rotary actuators. This type of parallel manipulator has a challenging dynamics to control. Based on the nonlinear dynamical model of the system a Takagi-Sugeno fuzzy model of the system is presented through a combination of linear systems. The concept of Parallel Distributed Compensation (PDC) is used to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the manipulator. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The sufficient conditions for the existence of an appropriate controller are presented in terms of Linear Matrix Inequalities (LMIs). To show the efficiency of the proposed approach, numerical simulations are performed for a typical system.