Stewart Platform Model with Uncertain Parameters
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.
Andrejus H. Marcinkevičius and Algirdas V.Valiulis
L. Březina and T. Březina, "Stewart Platform Model with Uncertain Parameters", Solid State Phenomena, Vol. 164, pp. 177-182, 2010