Non-linear robust control with partial inverse dynamic compensation for a Stewart platform manipulator Online publication date: Fri, 13-Jan-2006
by Shaowen Fu, Yu Yao, Tielong Shen
International Journal of Modelling, Identification and Control (IJMIC), Vol. 1, No. 1, 2006
Abstract: This paper presents a non-linear robust control approach for a Stewart platform manipulator with partial inverse dynamic compensation. Firstly, the complete model of the manipulator's dynamics is derived by using a Lagrange method that describes the motion of the upper platform and the six legs. Then, the coupling force caused by the dynamics of the legs is compensated using the Newton–Euler inverse dynamic formula, which makes the compensation algorithm much simpler without computing the complex forward dynamics. A robust tracking control approach is shown to cope with the uncertainties, including the modelling error and the remains of the partial compensation and the disturbances. The controller is designed based on the Lyapunov framework. It is shown that a simple feedback law that achieves the desired tracking performance can be designed by putting the physical property of the compensated system into the Lyapunov function. Finally, to verify the validity of the proposed approach, a simulation result is demonstrated.
Online publication date: Fri, 13-Jan-2006
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email email@example.com