Publication detail
Stewart Platform Model with Uncertain Parameters
BŘEZINA, L. BŘEZINA, T.
English title
Stewart Platform Model with Uncertain Parameters
Type
Paper in proceedings (conference paper)
Language
en
Original abstract
The paper deals with creating of an uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for an 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 to an H-infinity controller designed according to the obtained model.
Keywords in English
Stewart platform, uncertain system, H-infinity controller
Released
2009-10-22
Publisher
Vilnius Gediminas Technical University
Location
Vilnius
ISBN
978-9955-28-493-2
Book
The 5th International Conference Mechatronic Systems and Materials MSM-2009
Pages from–to
9–10
Pages count
2
BIBTEX
@inproceedings{BUT33623,
author="Lukáš {Březina} and Tomáš {Březina}",
title="Stewart Platform Model with Uncertain Parameters",
booktitle="The 5th International Conference Mechatronic Systems and Materials MSM-2009",
year="2009",
pages="9--10",
publisher="Vilnius Gediminas Technical University",
address="Vilnius",
isbn="978-9955-28-493-2"
}