Optimized Robust Fuzzy PID Controller for Suspended Cable-Driven Parallel Robots via Dragonfly Algorithm

Abstract

The kinematics and dynamics of a suspended cable-driven parallel robot with spatial of three degrees of freedom are presented. This robot has many applications, though, because of its structure, it is vulnerable to disturbance and uncertainties. This paper presents a proposed robust controller to deal with this issue. First, a fuzzy proportional–integral–derivative (PID) controller, which combines the merits of a fuzzy logic controller and the conventional widely used PID controller, is chosen as the main controller. Dragonfly algorithm (DA), as a relatively new metaheuristic algorithm, is known to have advantages over other classical ones. It is utilized to optimize PID gains until the required tracking error is achieved. Then, the chosen controller is incorporated with the robust classical sliding mode controller (SMC) in a way that balances the performance and robustness. DA is further exploited to optimize the parameters of SMC. Mathematical stability calculations and code modeling show the effectiveness of the proposed controller in performance and robustness