Publication detail

Stewart Platform Model with Uncertain Parameters

BŘEZINA, L. BŘEZINA, T.

Czech title

Model Stewartovy platformy obsahující neurčitostní parametry

English title

Stewart Platform Model with Uncertain Parameters

Type

conference paper

Language

en

Original abstract

The paper deals with creating of an uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for an H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes to an H-infinity controller designed according to the obtained model.

Czech abstract

Článek se zabývá vvytvořením dznamického modelu Stewartovy platformy obsahující neurčitostní parametry, vhodného pro návrh H-infinity regulátoru. Model je založen na linearizaci SimMechanics modelu.

English abstract

The paper deals with creating of an uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for an H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes to an H-infinity controller designed according to the obtained model.

Keywords in Czech

Stewartova platforma, neurčitostní systém, H-infinity regulátor

Keywords in English

Stewart platform, uncertain system, H-infinity controller

RIV year

2009

Released

22.10.2009

Publisher

Vilnius Gediminas Technical University

Location

Vilnius

ISBN

978-9955-28-493-2

Book

The 5th International Conference Mechatronic Systems and Materials MSM-2009

Pages from–to

9–10

Pages count

2

BIBTEX


@inproceedings{BUT33623,
  author="Lukáš {Březina} and Tomáš {Březina},
  title="Stewart Platform Model with Uncertain Parameters",
  booktitle="The 5th International Conference Mechatronic Systems and Materials MSM-2009",
  year="2009",
  month="October",
  pages="9--10",
  publisher="Vilnius Gediminas Technical University",
  address="Vilnius",
  isbn="978-9955-28-493-2"
}