Proposal of a decoupled structure of fuzzy-pid controllers applied to the position control in a planar cdpr

Marco Carpio, Roque Saltaren, Julio Viola, Cristian Calderon, Juan Guerra

Research output: Contribution to journalArticlepeer-review

9 Scopus citations


The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

Original languageEnglish
Article number745
Pages (from-to)1-21
Number of pages21
JournalElectronics (Switzerland)
Issue number6
StatePublished - 2 Mar 2021

Bibliographical note

Funding Information:
Funding: This research was supported by the Spanish Government Projects under Grant DPI2014-57220-C2-1-P, Grant PGC2018-095939-B-I00, in part by the RoboCity2030 DIH-CM Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, and funded by the Programas Actividades I+D en la Comunidad de Madrid, in part by the Structural Funds of the EU, and the GIIRA research group at Universidad Politécnica Salesiana, Ecuador.

Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.


  • CDPR
  • Fuzzy control
  • PID
  • Topology control


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