Optimal Design of the Proportional-Integral-Derivative Fuzzy Controller for a Three Degree-of-Freedom Plane Cable Robot based on Krill Herd Optimization

In this study, the kinematics and dynamics of a plane direct-guided cable robot with three degree-of-freedom and the control of its direction have been studied and investigated. First, the tensile of the cables has been investigated regarding that the robot is a closed kinematic chain mechanism and the end-effector is adjoined to the base through several actuating cables. Afterwards, the Proportional-Integral-Derivative (PID) controller and the fuzzy PID controller have been applied on the cable robot for different and various final desired conditions. It is noticeable that a proper control rule for the cable robot not only causes the tracking of the desired trajectory, but also guarantees the positivity of the cable tension forces for all states. In order to determine the parameters of the controllers, the krill herd algorithm as a population-based optimization procedure is implemented. The obtained results indicate the successfulness of the proposed strategy to guide the cable robot to the desired objectives.