Detail publikace
Model Stewartovy platformy obsahující neurčitostní parametry
BŘEZINA, L. BŘEZINA, T.
Český název
Model Stewartovy platformy obsahující neurčitostní parametry
Anglický název
Stewart Platform Model with Uncertain Parameters
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
en
Originální abstrakt
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.
Český abstrakt
Článek se zabývá vvytvořením dznamického modelu Stewartovy platformy obsahující neurčitostní parametry, vhodného pro návrh H-infinity regulátoru. Model je založen na linearizaci SimMechanics modelu.
Anglický abstrakt
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.
Klíčová slova česky
Stewartova platforma, neurčitostní systém, H-infinity regulátor
Klíčová slova anglicky
Stewart platform, uncertain system, H-infinity controller
Rok RIV
2009
Vydáno
22.10.2009
Nakladatel
Vilnius Gediminas Technical University
Místo
Vilnius
ISBN
978-9955-28-493-2
Kniha
The 5th International Conference Mechatronic Systems and Materials MSM-2009
Strany od–do
9–10
Počet stran
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"
}