Control design of disturbance rejection for a Stewart platform based on the internal model principle

被引：0
|
作者：
Control and Simulation Center, Harbin Inst. of Technology, Harbin 150080, China [1 ]
机构：
来源：
Xi Tong Cheng Yu Dian Zi Ji Shu/Syst Eng Electron | 2009年 / 7卷 / 1689-1693期
关键词：
Inverse problems - Manipulators - Flight simulators;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive control algorithm is proposed for Stewart platform which is usually used to as a flight simulator. Firstly, the coupling force caused by the dynamics of the legs is compensated using the Newton-Euler inverse dynamic formula, and the simple error dynamic is obtained. Then, in order to reject the external unknown disturbance, a task space controller with adaptive internal model is constructed, which can reject a class of harmonic disturbance with unknown frequency and asymptotically track the desired trajectory. The simulation results show the effectiveness of the proposed method.
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