Model-free intelligent control of a 6-DOF Stewart-Gough based parallel manipulator

This paper illustrates an application of intelligent control to a 6-DOF Stewart-Gough based parallel manipulator. Under model free conditions, a three dimensional fuzzy PID controller is designed. The control is performed without using the forward kinematics of the manipulator. The performance of the fuzzy PID controller is compared against a linear PID controller. The fuzzy PID controller is shown to have better performance in tracking and higher robustness in load rejection than the linear PID controller.