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Fully Adaptive Feedforward Feedback Synchronized Tracking Control for Stewart Platform Systems  

Zhao, Dongya (Institute of Automation, Shanghai Jiao Tong University)
Li, Shaoyuan (Institute of Automation, Shanghai Jiao Tong University)
Gao, Feng (School of Mechanical Engineering, Shanghai Jiao Tong University)
Publication Information
International Journal of Control, Automation, and Systems / v.6, no.5, 2008 , pp. 689-701 More about this Journal
Abstract
In this paper, a fully adaptive feedforward feedback synchronized tracking control approach is developed for precision tracking control of 6 degree of freedom (6DOF) Stewart Platform. The proposed controller is designed in decentralized form for implementation simplicity. Interconnections among different subsystems and gravity effect are eliminated by the feedforward control action. Feedback control action guarantees the stability of the system. The gains of the proposed controller can be updated on line without requiring any prior knowledge of Stewart Platform manipulator. Thus the control approach is claimed to be fully adaptive. By employing cross-coupling error technology, the proposed approach can guarantee both of position error and synchronization error converge to zero asymptotically. Because the actuators work in synchronous manner, the tracking performances are improved. The corresponding stability analysis is also presented in this paper. Finally, simulation is demonstrated to verify the effectiveness of the proposed approach.
Keywords
Cross-coupling error; decentralized control; fully adaptive control; Stewart platform; synchronized tracking control;
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Times Cited By Web Of Science : 2  (Related Records In Web of Science)
Times Cited By SCOPUS : 6
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