Detail publikace
Model Stewartovy platformy s neurčitými parametry
BŘEZINA, L. BŘEZINA, T.
Český název
Model Stewartovy platformy s neurčitými parametry
Anglický název
Stewart platform model with uncertain parameters
Typ
článek v časopise ve Web of Science, Jimp
Jazyk
en
Originální abstrakt
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.
Český abstrakt
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.
Anglický abstrakt
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.
Klíčová slova česky
Stewartova platforma, neurčitostní soustavy, H-nekonečno regulátor
Klíčová slova anglicky
stewart platform, uncertain system, H-infinity controller
Rok RIV
2010
Vydáno
11.05.2010
Nakladatel
Trans Tech Publications
Místo
Zurich, Switzerland
ISSN
1012-0394
Časopis
Solid State Phenomena
Ročník
2010
Číslo
164
Strany od–do
177–182
Počet stran
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"
}