Stewart Type Wheel-Foot Leg Control Method Based on Dynamics and Model Predictive Control

被引：0

作者：

Wang S. ^{[1
]}

Liu D. ^{[1
]}

Guo F. ^{[1
]}

Yue B. ^{[1
]}

Chen Z. ^{[1
]}

Wang J. ^{[1
]}

机构：

[1] School of Automation, Beijing Institution of Technology, Beijing

来源：

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2021年 / 41卷 / 04期

关键词：

Dynamics model; Joint simulation; Model predictive control(MPC); Stewart platform; Wheel-foot robot;

D O I：

10.15918/j.tbit1001-0645.2020.036

中图分类号：

学科分类号：

摘要：

To improve the motion precision and dynamics of Stewart type wheel-foot leg under variable posture, a dynamics model predictive control (MPC) was proposed. Firstly, the force analysis was carried out for Stewart platform and a dynamics model was derived with the Newton-Euler for state-space representation. Then, the MPC predictive model and cost function were established for optimization. Next, Adams and Matlab joint simulation was performed to regulate the MPC controller and evaluate its robustness to the un-modeled friction. Finally, the comparative experiments were conducted to verify the superiority of MPC controller to PI controller in terms of motion dynamics and precision under variable posture. © 2021, Editorial Department of Transaction of Beijing Institute of Technology. All right reserved.

引用

页码：418 / 424

页数：6

共 7 条

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