Stewart Platform Model with Uncertain Parameters

Lukas Březina; Tomáš Březina

doi:10.4028/www.scientific.net/SSP.164.177

Paper Titles

RFID and Wireless Sensor and Actuator Networks in Advanced Production Applications
p.155

Rowing Force Simulation and Control System
p.161

Cyclic-Modular Approach for Simulation of Multi-Regime Mechatronic Systems with Hydraulic Components
p.165

Control Method for Elimination of Self–Excited Oscillations during Turning
p.171

Stewart Platform Model with Uncertain Parameters
p.177

Port-Based Modeling of Distributed-Lumped Parameter Systems
p.183

Modal Reduction and Analysis of Gyroscopic Systems
p.189

Design of a Low-Cost Submicron Measuring Probe
p.195

Adaptation of the Expert System in Diagnosis of the Connection of the PLC User Interface System and A Field Level
p.201

HomeSolid State PhenomenaSolid State Phenomena Vol. 164Stewart Platform Model with Uncertain Parameters

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.

You might also be interested in these eBooks

Mechatronic Systems and Materials: Mechatronic Systems and Robotics

View Preview

Info:

Periodical:

Solid State Phenomena (Volume 164)

Pages:

177-182

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.164.177

Citation:

Cite this paper

Online since:

June 2010

Authors:

Lukas Březina, Tomáš Březina

Keywords:

H-Infinity Controller, Stewart Platform, Uncertain Systems

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] S.H. Lee, J.B. Song, W. C. Choi and D. Hong: Position control of a Stewart platform using inverse dynamics control with approximate dynamics. Mechatronics, Vol. 13(6) (2003), p.605619.

DOI: 10.1016/s0957-4158(02)00033-8

Google Scholar

[2] J. Wang, J. Wu, L. Wang and T. Li: Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real time control. Mechanism and machine theory, Vol. 42(9) (2007), pp.1119-1140.

DOI: 10.1016/j.mechmachtheory.2006.09.004

Google Scholar

[3] T. Brezina, L. Brezina: The device for implants testing: The control. Proceedings of the Engineering mechanics 2008, Svratka, (2008) pp.84-89.

Google Scholar

[4] L. Brezina, O. Andrs and T. Brezina: $I LabView - Matlab SimMechanics Stewart platform design. Applied and computational mechanics, Vol. 2 (1) (2008), pp.235-242.

Google Scholar

[5] D. -W. Gu, P. H. Petrov and M. M. Konstantinov: Robust Control Design with Matlab. Springer (2005).

Google Scholar

[6] Information on http: /www. mathworks. com.

Google Scholar