Fuzzy Active Disturbance Rejection Control for a Pneumatic 6-DOF Platform

Aiming at the trajectory tracking problem of a pneumatic six-degree-of-freedom parallel platform, a fuzzy active disturbance rejection control (ADRC) method based on model compensation is proposed and applied to the posture control of the platform. By analyzing the dynamic characteristics of the pneumatic six-degree-of-freedom parallel platform, a third-order mathematical model was established. The parameters of the nonlinear state error feedback law in the ADRC are dynamically adjusted through a fuzzy inference mechanism, enhancing the controller's adaptability to strongly coupled nonlinear systems. Comparative simulation results demonstrate that, compared with the conventional ADRC, the proposed fuzzy ADRC achieves higher trajectory tracking accuracy and improved dynamic performance in parallel robot control while ensuring system stability.