Passivity based control of stewart platform for trajectory tracking

Tariku Sinshaw Tamir; Guangyu Xiong; Yanfu Tian; Gang Xiong

doi:10.1109/ICIEA.2019.8833935

Passivity based control of stewart platform for trajectory tracking

Tariku Sinshaw Tamir
, Guangyu Xiong
, Yanfu Tian
, Gang Xiong^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

This study is about passivity based control, as one of the tools available to design robust controllers, is introduced for trajectory tracking of the Stewart platform. PD+ controller is designed based on passivation principle so that the closed loop system becomes globally uniform and asymptotically stable. In the study, the mathematical model of the Stewart platform, derived from Euler Lagrange equations of motion, is Simulated on MATLAB/Simulink. So as to get the desired leg-length trajectory, the inverse kinematics formulation is investigated. The mathematical model is verified using automatic dynamic analysis of mechanical systems (ADAMS) software. More realistic results are observed from ADAMS simulation results.

Original language	English
Title of host publication	Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	988-993
Number of pages	6
ISBN (Electronic)	9781538694909
DOIs	https://doi.org/10.1109/ICIEA.2019.8833935
State	Published - Jun 2019
Externally published	Yes
Event	14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 - Xi'an, China Duration: 19 Jun 2019 → 21 Jun 2019

Publication series

Name	Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019

Conference

Conference	14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019
Country/Territory	China
City	Xi'an
Period	19/06/19 → 21/06/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

ADAMS software
Euler Lagrange equation
Global uniform asymptotically stable
Inverse kinematics
MATLAB/Simulink
PD+
Passivity based control

ASJC Scopus subject areas

Energy Engineering and Power Technology
Electrical and Electronic Engineering
Industrial and Manufacturing Engineering
Control and Optimization
Instrumentation

Access to Document

10.1109/ICIEA.2019.8833935

Cite this

Tamir, T. S., Xiong, G., Tian, Y., & Xiong, G. (2019). Passivity based control of stewart platform for trajectory tracking. In Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 (pp. 988-993). Article 8833935 (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2019.8833935

Tamir, Tariku Sinshaw ; Xiong, Guangyu ; Tian, Yanfu et al. / Passivity based control of stewart platform for trajectory tracking. Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 988-993 (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019).

@inproceedings{da40d9d416ca462fa03b9f166e6eb368,

title = "Passivity based control of stewart platform for trajectory tracking",

abstract = "This study is about passivity based control, as one of the tools available to design robust controllers, is introduced for trajectory tracking of the Stewart platform. PD+ controller is designed based on passivation principle so that the closed loop system becomes globally uniform and asymptotically stable. In the study, the mathematical model of the Stewart platform, derived from Euler Lagrange equations of motion, is Simulated on MATLAB/Simulink. So as to get the desired leg-length trajectory, the inverse kinematics formulation is investigated. The mathematical model is verified using automatic dynamic analysis of mechanical systems (ADAMS) software. More realistic results are observed from ADAMS simulation results.",

keywords = "ADAMS software, Euler Lagrange equation, Global uniform asymptotically stable, Inverse kinematics, MATLAB/Simulink, PD+, Passivity based control",

author = "Tamir, \{Tariku Sinshaw\} and Guangyu Xiong and Yanfu Tian and Gang Xiong",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 ; Conference date: 19-06-2019 Through 21-06-2019",

year = "2019",

month = jun,

doi = "10.1109/ICIEA.2019.8833935",

language = "English",

series = "Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "988--993",

booktitle = "Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019",

address = "United States",

}

Tamir, TS, Xiong, G, Tian, Y & Xiong, G 2019, Passivity based control of stewart platform for trajectory tracking. in Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019., 8833935, Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019, Institute of Electrical and Electronics Engineers Inc., pp. 988-993, 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019, Xi'an, China, 19/06/19. https://doi.org/10.1109/ICIEA.2019.8833935

Passivity based control of stewart platform for trajectory tracking. / Tamir, Tariku Sinshaw; Xiong, Guangyu; Tian, Yanfu et al.
Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 988-993 8833935 (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Passivity based control of stewart platform for trajectory tracking

AU - Tamir, Tariku Sinshaw

AU - Xiong, Guangyu

AU - Tian, Yanfu

AU - Xiong, Gang

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N2 - This study is about passivity based control, as one of the tools available to design robust controllers, is introduced for trajectory tracking of the Stewart platform. PD+ controller is designed based on passivation principle so that the closed loop system becomes globally uniform and asymptotically stable. In the study, the mathematical model of the Stewart platform, derived from Euler Lagrange equations of motion, is Simulated on MATLAB/Simulink. So as to get the desired leg-length trajectory, the inverse kinematics formulation is investigated. The mathematical model is verified using automatic dynamic analysis of mechanical systems (ADAMS) software. More realistic results are observed from ADAMS simulation results.

AB - This study is about passivity based control, as one of the tools available to design robust controllers, is introduced for trajectory tracking of the Stewart platform. PD+ controller is designed based on passivation principle so that the closed loop system becomes globally uniform and asymptotically stable. In the study, the mathematical model of the Stewart platform, derived from Euler Lagrange equations of motion, is Simulated on MATLAB/Simulink. So as to get the desired leg-length trajectory, the inverse kinematics formulation is investigated. The mathematical model is verified using automatic dynamic analysis of mechanical systems (ADAMS) software. More realistic results are observed from ADAMS simulation results.

KW - ADAMS software

KW - Euler Lagrange equation

KW - Global uniform asymptotically stable

KW - Inverse kinematics

KW - MATLAB/Simulink

KW - PD+

KW - Passivity based control

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M3 - Conference contribution

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BT - Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019

PB - Institute of Electrical and Electronics Engineers Inc.

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Tamir TS, Xiong G, Tian Y, Xiong G. Passivity based control of stewart platform for trajectory tracking. In Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 988-993. 8833935. (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019). doi: 10.1109/ICIEA.2019.8833935

Passivity based control of stewart platform for trajectory tracking

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this