Intelligent Cascade Control of Hydraulically Driven Parallel Robot Platform

Abstract

This paper presents an optimal tuning of cascade load force controllers for hydraulically driven parallel robot platform. A PID control technique is usually applied in practice for control of a 6-DOF parallel robot platform. The proposed parameter search scheme is based on a Cuckoo Search (CS) algorithm, which has received a lot of attention recently in the evolutionary computation area due to its superiority in solving various non-convex problems. Simulation results show the advantages of proposed optimal tuned cascade controllers to solve the formulated tracking problem in relation to the classical PID controllers.