Study on Six-DOF Electric Platform Adaptive Control

Yong Jun Gai; Jing Quan Wang

doi:10.4028/www.scientific.net/AMM.494-495.1368

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495Study on Six-DOF Electric Platform Adaptive...

Study on Six-DOF Electric Platform Adaptive Control

Abstract:

As the six-DOF electric platform, we establish the single-channel electric platform model on the basis of strongly coupled, nonlinear and strongly interferential AC servo motor driven platform system, and design the electric platform model to improve the dynamic response character and robustness. This study is based on the task space control policy to solve the control problem in various environments. Whats more, the introduction of dynamic surface avoids the acceleration feedback. The simulation result illustrates that it has effectively inhibited the system parameter uncertainty, and the impact of cross-linking coupling between nonlinear dynamics and DOF. Thus the system dynamic performance is improved, and the tracking capability is increased.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1368-1372

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1368

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Online since:

February 2014

Authors:

Yong Jun Gai*, Jing Quan Wang

Keywords:

Adaptive, Back Stepping Control, Electric Platform, Six-DOF

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* - Corresponding Author

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