TY - GEN
T1 - Determination of realistic uncertainty bounds for the stewart platform with payload dynamics
AU - Iqbal, S.
AU - Bhatti, A. I.
AU - Ahmed, Q.
PY - 2008
Y1 - 2008
N2 - Robust Control of Stewart Platform has been successfully demonstrated by various authors [8-12]. The work done so far is based on the assumption that the bounds on uncertainty are known and the chosen reachability gains are greater than these bounds. This assumption can only be justified if those bounds could be quantified, which is not the case in the existing approaches. The problem gets severe when the controller has to compete against the variations in payload, especially when the payload is asymmetric. This paper addresses such uncertainties. The novelty of the paper lies in the extension of existing nonlinear model to include asymmetric payloads and quantification of uncertainties arising from the use of a variety of asymmetric payloads. The actual Moments of Inertia (MOI) of the Stewart Platform with asymmetric payload are computed and used to find worst case uncertainty bounds. The control performance of the proposed algorithm is verified by computer simulations. These simulations show that the system follows the desired trajectory and errors converge to equilibrium points efficiently.
AB - Robust Control of Stewart Platform has been successfully demonstrated by various authors [8-12]. The work done so far is based on the assumption that the bounds on uncertainty are known and the chosen reachability gains are greater than these bounds. This assumption can only be justified if those bounds could be quantified, which is not the case in the existing approaches. The problem gets severe when the controller has to compete against the variations in payload, especially when the payload is asymmetric. This paper addresses such uncertainties. The novelty of the paper lies in the extension of existing nonlinear model to include asymmetric payloads and quantification of uncertainties arising from the use of a variety of asymmetric payloads. The actual Moments of Inertia (MOI) of the Stewart Platform with asymmetric payload are computed and used to find worst case uncertainty bounds. The control performance of the proposed algorithm is verified by computer simulations. These simulations show that the system follows the desired trajectory and errors converge to equilibrium points efficiently.
UR - https://www.scopus.com/pages/publications/53349095524
U2 - 10.1109/CCA.2008.4629630
DO - 10.1109/CCA.2008.4629630
M3 - Conference contribution
AN - SCOPUS:53349095524
SN - 9781424422234
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 995
EP - 1000
BT - 17th IEEE International Conference on Control Applications, CCA
T2 - 17th IEEE International Conference on Control Applications, CCA
Y2 - 3 September 2008 through 5 September 2008
ER -