Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel Robots
A suspended cable-driven parallel robot is a type of lightweight large-span parallel robot. The stability and control of this multi-input multi-output robot are studied in this work to overcome its inherited vulnerability to disturbance. An adaptive fuzzy synergetic controller is proposed to overcom...
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| Format: | Article |
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MDPI AG
2025-04-01
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| Series: | Automation |
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| Online Access: | https://www.mdpi.com/2673-4052/6/2/15 |
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| author | Yasser Hatim Alwan Ahmed A. Oglah Muayad Sadik Croock |
| author_facet | Yasser Hatim Alwan Ahmed A. Oglah Muayad Sadik Croock |
| author_sort | Yasser Hatim Alwan |
| collection | DOAJ |
| description | A suspended cable-driven parallel robot is a type of lightweight large-span parallel robot. The stability and control of this multi-input multi-output robot are studied in this work to overcome its inherited vulnerability to disturbance. An adaptive fuzzy synergetic controller is proposed to overcome these issues, combining synergetic control theory with adaptive fuzzy logic to ensure robust trajectory tracking. The parameters of the controller are optimized using the Dragonfly Algorithm, a metaheuristic technique known for its simplicity and fast convergence. The adaptive fuzzy synergetic controller is tested on a suspended cable-driven parallel robot model under both disturbance-free and disturbed conditions, demonstrating global asymptotic stability and superior tracking accuracy compared to existing controllers. Simulation results show the proposed controller achieves minimal tracking error and improved robustness in the presence of dynamic uncertainties, validating its practical applicability in industrial scenarios. The findings highlight the effectiveness of integrating synergetic control, fuzzy logic adaptation, and optimization for enhancing the performance and reliability of suspended cable-driven parallel robots. |
| format | Article |
| id | doaj-art-4400c828bea04b17b3d7e4cf5c7bec08 |
| institution | Kabale University |
| issn | 2673-4052 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Automation |
| spelling | doaj-art-4400c828bea04b17b3d7e4cf5c7bec082025-08-20T03:27:11ZengMDPI AGAutomation2673-40522025-04-01621510.3390/automation6020015Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel RobotsYasser Hatim Alwan0Ahmed A. Oglah1Muayad Sadik Croock2IT Research and Development Center, University of Kufa, Kufa 54003, IraqControl and Systems Engineering Department, University of Technology, Baghdad 10066, IraqControl and Systems Engineering Department, University of Technology, Baghdad 10066, IraqA suspended cable-driven parallel robot is a type of lightweight large-span parallel robot. The stability and control of this multi-input multi-output robot are studied in this work to overcome its inherited vulnerability to disturbance. An adaptive fuzzy synergetic controller is proposed to overcome these issues, combining synergetic control theory with adaptive fuzzy logic to ensure robust trajectory tracking. The parameters of the controller are optimized using the Dragonfly Algorithm, a metaheuristic technique known for its simplicity and fast convergence. The adaptive fuzzy synergetic controller is tested on a suspended cable-driven parallel robot model under both disturbance-free and disturbed conditions, demonstrating global asymptotic stability and superior tracking accuracy compared to existing controllers. Simulation results show the proposed controller achieves minimal tracking error and improved robustness in the presence of dynamic uncertainties, validating its practical applicability in industrial scenarios. The findings highlight the effectiveness of integrating synergetic control, fuzzy logic adaptation, and optimization for enhancing the performance and reliability of suspended cable-driven parallel robots.https://www.mdpi.com/2673-4052/6/2/15cable-driven parallel robotsuspendedadaptive fuzzy basis systemsynergetic controllerdragonfly algorithmoptimization |
| spellingShingle | Yasser Hatim Alwan Ahmed A. Oglah Muayad Sadik Croock Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel Robots Automation cable-driven parallel robot suspended adaptive fuzzy basis system synergetic controller dragonfly algorithm optimization |
| title | Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel Robots |
| title_full | Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel Robots |
| title_fullStr | Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel Robots |
| title_full_unstemmed | Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel Robots |
| title_short | Optimized Adaptive Fuzzy Synergetic Controller for Suspended Cable-Driven Parallel Robots |
| title_sort | optimized adaptive fuzzy synergetic controller for suspended cable driven parallel robots |
| topic | cable-driven parallel robot suspended adaptive fuzzy basis system synergetic controller dragonfly algorithm optimization |
| url | https://www.mdpi.com/2673-4052/6/2/15 |
| work_keys_str_mv | AT yasserhatimalwan optimizedadaptivefuzzysynergeticcontrollerforsuspendedcabledrivenparallelrobots AT ahmedaoglah optimizedadaptivefuzzysynergeticcontrollerforsuspendedcabledrivenparallelrobots AT muayadsadikcroock optimizedadaptivefuzzysynergeticcontrollerforsuspendedcabledrivenparallelrobots |