Zhou, BinWang, YuhangZi, BinZhu, Weidong2023-10-172023-10-172023-09-29Zhou, Bin, Yuhang Wang, Bin Zi, and Weidong Zhu. “Fuzzy Adaptive Whale Optimization Control Algorithm for Trajectory Tracking of a Cable-Driven Parallel Robot.” IEEE Transactions on Automation Science and Engineering, 2023, 1–12. https://doi.org/10.1109/TASE.2023.3309049.https://doi.org/10.1109/TASE.2023.3309049http://hdl.handle.net/11603/30230This paper proposes a fuzzy proportion integration differentiation (PID) control strategy based on an adaptive whale optimization algorithm (FPID-AWOA) for trajectory tracking of a cable-driven parallel robot (CDPR). A mechanical prototype, and kinematic and dynamic models of the CDPR are established. Thus, new fuzzy rules are developed and a new fuzzy PID controller is designed. Subsequently, the AWOA is introduced to optimize quantization and scale factors of the fuzzy PID controller to obtain the optimal solution. Among them, AWOA is an improvement on WOA. Numerical examples show that the fuzzy PID control strategy based on adaptive whale optimization algorithm (FPID-AWOA) has higher CDPR trajectory tracking accuracy than the traditional fuzzy PID control strategy, the fuzzy PID control strategy based on whale optimization algorithm (FPID-WOA), and the fuzzy PID control strategy based on particle swarm optimization (FPID-PSOA). In comparison with the FPID and FPID-PSOA, the experimental results show that the trajectory tracking error of the proposed FPID-AWOA is reduced by 51.2% and 19.5% in the X-axis direction, respectively, 64.2% and 49.7% in the Y-axis direction, respectively, and 29.1% and 12.2% in the Z-axis direction, respectively.12 pagesen-US© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Text