On Control System of the Cable-Supporting Parallel Mechanism Including Actuator Dynamics

This paper is concerned with control system of cable- supporting parallel mechanisms (CPM) including actuator dynamics. Firstly, the dynamic formulation of the CPM with actuator dynamics was established. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled system, a decentralized control approach is proposed, and a fuzzy control plus proportional-integral control method, which can enhance the control performance for steady state errors, is, then, utilized to realize the trajectory tracking of the end-effector. Finally, the system is simulated with expected signal input via the controller based on the established dynamic equation. The results show that the control system achieves a better tracking performance and the control system has strong robustness.