Publication detail

Stewart platform model with uncertain parameters

BŘEZINA, L. BŘEZINA, T.

Original Title

Stewart platform model with uncertain parameters

Type

journal article in Web of Science

Language

English

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.

Keywords

stewart platform, uncertain system, H-infinity controller

Authors

BŘEZINA, L.; BŘEZINA, T.

RIV year

2010

Released

11. 5. 2010

Publisher

Trans Tech Publications

Location

Zurich, Switzerland

ISBN

1012-0394

Periodical

Solid State Phenomena

Year of study

2010

Number

164

State

Swiss Confederation

Pages from

177

Pages to

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",
  pages="177--182",
  issn="1012-0394"
}