Detail publikace

Stewart platform model with uncertain parameters

BŘEZINA, L. BŘEZINA, T.

Anglický název

Stewart platform model with uncertain parameters

Typ

Článek WoS

Jazyk

en

Originální abstrakt

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.

Klíčová slova anglicky

stewart platform, uncertain system, H-infinity controller

Vydáno

2010-05-11

Nakladatel

Trans Tech Publications

Místo

Zurich, Switzerland

ISSN

1012-0394

Ročník

2010

Číslo

164

Strany od–do

177–182

Počet stran

6

BIBTEX


@article{BUT49839,
  author="Lukáš {Březina} and Tomáš {Březina}",
  title="Stewart platform model with uncertain parameters",
  journal="Solid State Phenomena",
  year="2010",
  volume="2010",
  number="164",
  pages="177--182",
  issn="1012-0394"
}