A novel decoupling controller design for parallel motion platforms

In the present paper a novel classical control approach is proposed that provides an efficient and yet easy to implement control method for parallel-type motion platforms that are well known to have highly nonlinear coupled dynamics. It converts the MIMO nonlinear system to several decoupled reduced-order SISO systems that extremely simplifies the controller design using highly-developed classical control strategies for SISO systems. In addition, it provides direct control over operational variables that task is defined on. The method is applied to a 3-DoF platform. Simulation results reveal that the proposed controller considerably improves control specifications compared to the conventional classic controllers and is comparable to the nonlinear controllers that are of high computational load. It is also applied to a 6-DoF platform. The experimental results approve the applicability of the method.