Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 467402, 17 pages
Research Article

Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator

1College of Information Science and Technology, Donghua University, Shanghai 201620, China
2Engineering Research Center of Digitized Textile and Fashion Technology, Ministry of Education, Donghua University, Shanghai 201620, China

Received 7 June 2012; Accepted 1 August 2012

Academic Editor: Bo Shen

Copyright © 2012 Chongbin Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a novel multiloop and Multi-objective cooperative intelligent control system (MMCICS) used to improve the performance of position, velocity and acceleration integrated control on a complex multichannel plant. Based on regulation mechanism of the neuroendocrine system (NES), a bioinspired motion control approach has been used in the MMCICS which includes four cooperative units. The planning unit outputs the desired signals. The selection unit chooses the real-time dominant control mode. The coordination unit uses the velocity Jacobian matrix to regulate the cooperative control signals. The execution unit achieves the ultimate task based on sub-channel controllers with the proposed hormone regulation self-adaptive Modules (HRSMs). Parameter tuning is given to facilitate the MMCICS implementation. The MMCICS is applied to an actual 2-DOF redundant parallel manipulator where the feasibility of the new control system is demonstrated. The MMCICS keeps its subchannels interacting harmoniously and systematically. Therefore, the plant has fast response, smooth velocity, accurate position, strong self-adaptability, and high stability. The HRSM improves the control performance of the local controllers and the global system as well, especially for manipulators running at high velocities and accelerations.