Publication

Abstract : This research article attempts to design Inverse Dynamics Controller (IDC) to execute the motion tracking of Stewart Platform. In the presence of modeling uncertainties and external disturbances, the closed-loop dynamic equation of IDC with fixed gains becomes nonlinear and configuration-dependent, which compromises the motion tracking accuracy. Further, both modeling uncertainties and external disturbances are unavoidable in real life conditions. To tackle this issue, this article proposes a novel control algorithm by combining IDC with Feed-Forward Artificial Neural Network (FF-ANN) trained using PSO. The proposed modified control algorithm offers superior motion tracking accuracy in comparison with traditional IDC.