Detail publikace

Stewart Platform Model with Uncertain Parameters

BŘEZINA, L. BŘEZINA, T.

Originální název

Stewart Platform Model with Uncertain Parameters

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

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.

Klíčová slova

Stewart platform, uncertain system, H-infinity controller

Autoři

BŘEZINA, L.; BŘEZINA, T.

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

9

Strany do

10

Strany počet

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",
  pages="9--10",
  publisher="Vilnius Gediminas Technical University",
  address="Vilnius",
  isbn="978-9955-28-493-2"
}