Paper Title:
Stewart Platform Model with Uncertain Parameters
  Abstract

The paper deals with development of uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes regarding H-infinity controller designed according to the obtained model.

  Info
Periodical
Solid State Phenomena (Volume 164)
Edited by
Andrejus H. Marcinkevičius and Algirdas V.Valiulis
Pages
177-182
DOI
10.4028/www.scientific.net/SSP.164.177
Citation
L. Březina, T. Březina, "Stewart Platform Model with Uncertain Parameters", Solid State Phenomena, Vol. 164, pp. 177-182, 2010
Online since
June 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Pavel Houška, Tomáš Březina
Abstract:The article deals with description of design of sensor system for linear actuators. These constitute a part of a parallel kinematic machine...
15
Authors: Chi Fu Yang, Shu Tao Zheng, Peter O. Ogbobe, Jun Wei Han
Abstract:Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency...
126
Authors: Jerzy Brzózka
Chapter 1: Control Systems
Abstract:Abstract. Linearization methods of the object: input-state and input-output linearization are used usually in a standard feedback control...
3
Authors: Qiu Ju Li, Ni Huan Liao, Lu Hong Gong
Chapter 7: Intelligent Mechatronics
Abstract:In order to deal with the control of a rigid spacecraft, a general technique to design advanced controllers for electrical transfer inner...
1331
Authors: Lukas Březina, Michal Holub, Ladislav Cintula, Jiri Kovar
I. Robotics: Industrial Robots, Microrobotics
Abstract:The article proposes an approach to the development of a Delta robot which is the most frequently used robot with a parallel kinematic...
9