Variable-Domain Fuzzy based Dual-Loop Control for Stewart Platform Dynamic Target Tracking

This paper investigates a dynamic target tracking method for the Stewart platform based on monocular vision distance measurement. The innovative approach applies a variable-domain fuzzy PID control algorithm to a mature Stewart platform, achieving efficient dynamic target tracking through a comprehensive dual-loop control system. AMESim and MATLAB co-simulation were used to develop a physical model of the Stewart platform, analyze its operational principles and characteristics, and conduct open-loop experiments to validate the model's reliability. The feasibility and performance of different control algorithms were compared on the established model, and the results were used to guide parameter tuning on the physical system. The findings indicate that this method, compared to traditional PID and fuzzy PID controllers, significantly enhances the Stewart platform's dynamic tracking capability in underwater environments, demonstrating high application value and practical feasibility.