Publication detail

Stewart platform model with uncertain parameters

BŘEZINA, L. BŘEZINA, T.

Czech title

Model Stewartovy platformy s neurčitými parametry

English title

Stewart platform model with uncertain parameters

Type

journal article in Web of Science

Language

en

Original abstract

The paper deals with development of uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for 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 regarding H-infinity controller designed according to the obtained model.

Czech abstract

Článek se zabývá modelováním Stewartovy platfromy s neurčitými parametry. Model je založen na SimMechanics linearizovaném modelu. Model je vytvářen s ohleden na návrh robustního řízení.

English abstract

The paper deals with development of uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for 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 regarding H-infinity controller designed according to the obtained model.

Keywords in Czech

Stewartova platforma, neurčitostní soustavy, H-nekonečno regulátor

Keywords in English

stewart platform, uncertain system, H-infinity controller

RIV year

2010

Released

11.05.2010

Publisher

Trans Tech Publications

Location

Zurich, Switzerland

ISSN

1012-0394

Journal

Solid State Phenomena

Volume

2010

Number

164

Pages from–to

177–182

Pages count

6

BIBTEX


@article{BUT49839,
  author="Lukáš {Březina} and Tomáš {Březina},
  title="Stewart platform model with uncertain parameters",
  journal="Solid State Phenomena",
  year="2010",
  volume="2010",
  number="164",
  month="May",
  pages="177--182",
  publisher="Trans Tech Publications",
  address="Zurich, Switzerland",
  issn="1012-0394"
}