Tracking control for a Stewart platform prototype
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hdl:2117/87734
Document typeConference report
Defense date2015
Rights accessRestricted access - publisher's policy
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Abstract
A Stewart platform is a well-known mechanism which can be used for a wide variety of vibration control problems. In this paper, an LQR controller for a Stewart platform prototype is proposed which, combined with a proportional derivative gain matrix, achieves a good performance when compared with the classical PID control system. By testing some
trajectories, we observe that the tracking error between the actual and pre-established trajectories is smaller by applying the controller supplied in this work. The final purpose will be the implementation of this kind of control in a real Stewart platform constructed at the Universitat Politècnica de Catalunya (UPC) by our research group.
CitationRossell, Josep M., Palacios-Quiñonero, F., Rubió-Massegú, J., Vicente-Rodrigo, Jesus. Tracking control for a Stewart platform prototype. A: International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation. "International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation: program and abstracts". Surabaya: 2015.
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