제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.736-741
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- 1992
A study on robust multivariable control of stewart platform type motion simulator
스튜어트 플랫폼 방식 운동재현기의 다변수 견실제어에 관한 연구
Abstract
The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H
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