Markov-parameter-based adaptive control of 3-axis angular velocity in a six-degree-of-freedom stewart platform

Stewart platforms are complex mechanical devices used throughout industry for vibration testing and precision pointing applications. These platforms are nonlinear, strongly coupled MIMO systems. For a six-degree-of-freedom Stewart platform, we consider the problem of three-degree-of-freedom angular-...

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Bibliographic Details
Published in2008 American Control Conference pp. 4767 - 4772
Main Authors Pence, B.L., Santillo, M.A., Bernstein, D.S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2008
Subjects
Accelerometers
Acoustics
Adaptive control
Aerospace industry
Angular velocity
Couplings
Displacement measurement
Laboratories
Motion control
Vibration control
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Summary:Stewart platforms are complex mechanical devices used throughout industry for vibration testing and precision pointing applications. These platforms are nonlinear, strongly coupled MIMO systems. For a six-degree-of-freedom Stewart platform, we consider the problem of three-degree-of-freedom angular-velocity command following. Static nonlinearity inherent in the platform is analyzed, and a closed-loop setup for adaptive command-following control is described. A review of the Markov-parameter-based adaptive control algorithm is given, along with the OKID system identification algorithm, test procedures, and experimental results.
ISBN:1424420784
9781424420780
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2008.4587248