PD algorithm combined with Sugeno fuzzy logic improves trajectory tracking control quality for Delta parallel robot



  • Dinh Xuan Minh Faculty of Electrical Engineering, Hanoi University of Industry
  • Pham Van Hung (Corresponding Author) Faculty of Electrical Engineering, Hanoi University of Industry
  • Nguyen Nam Khanh Faculty of Electrical Engineering, Hanoi University of Industry
  • Mai The Thang Faculty of Electrical Engineering, Hanoi University of Industry
  • Ha Minh Quan Faculty of Electrical Engineering, Hanoi University of Industry
  • Ha Viet Anh Faculty of Electrical Engineering, Hanoi University of Industry




Delta 3-DOF; Model-based PD controller; Sugeno fuzzy logic; Trajectory tracking control.


 The research aims to improve the model-based PD algorithm by using Sugeno fuzzy logic to adjust the parameter values of the controller online, improving the trajectory tracking quality and robustness to noise for the Delta parallel robot. The study uses Matlab and Simulink simulation tools to validate the reliability of the controller on an eight-shaped trajectory. The simulation results show that the control performance is very good when it is possible to control the motion of the Delta 3-DOF parallel robot follow the desired trajectory and maintain stability with a fast settling time , even when the system is affected by unknown external disturbances.


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How to Cite

Đinh Xuân Minh, H. Pham, Nguyễn Nam Khánh, Mai Thế Thắng, Hà Minh Quân, and Hà Việt Anh. “PD Algorithm Combined With Sugeno Fuzzy Logic Improves Trajectory Tracking Control Quality for Delta Parallel Robot”. Journal of Military Science and Technology, vol. 93, no. 93, Feb. 2024, pp. 38-46, doi:10.54939/1859-1043.j.mst.93.2024.38-46.



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