Control of a four-rope-driven level-adjustment robot based on the SIRMs dynamically connected fuzzy inference model

Abstract

In the paper, a control scheme, based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model, is designed for a four-rope-driven level-adjustment robot to level the eccentric payload and balance the rope tension. The control scheme is composed of four controllers separately controlling one independent rope's length. Each controller, composed of nine sub-controllers, selects different sub-controllers to deal with different limit switches' situations. Each sub-controller is set up such that the angular control of the payload takes higher priority than the rope tension. Experiment results show that the control scheme works very well and can handle all possible situations.