Detail publikace

Stewart Platform Model with Uncertain Parameters

BŘEZINA, L. BŘEZINA, T.

Anglický název

Stewart Platform Model with Uncertain Parameters

Typ

Stať ve sborníku v databázi WoS či Scopus

Jazyk

en

Originální abstrakt

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.

Klíčová slova anglicky

Stewart platform, uncertain system, H-infinity controller

Vydáno

2009-10-22

Nakladatel

Vilnius Gediminas Technical University

Místo

Vilnius

ISBN

978-9955-28-493-2

Kniha

The 5th International Conference Mechatronic Systems and Materials MSM-2009

Strany od–do

9–10

Počet stran

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"
}