Markov-parameter-based adaptive control of 3-axis angular velocity in a six-degree-of-freedom stewart platform

Benjamin L. Pence, Mario A. Santillo, Dennis S. Bernstein
2008 2008 American Control Conference  
Stewart platforms are complex mechanical devices used throughout industry for vibration testing and precision pointing applications. These platforms are nonlinear, strongly coupled MIMO systems. For a six-degree-of-freedom Stewart platform, we consider the problem of three-degree-of-freedom angular-velocity command following. Static nonlinearity inherent in the platform is analyzed, and a closed-loop setup for adaptive command-following control is described. A review of the
more » ... arkov-parameter-based adaptive control algorithm is given, along with the OKID system identification algorithm, test procedures, and experimental results.
doi:10.1109/acc.2008.4587248 dblp:conf/amcc/PenceSB08 fatcat:bwrvbf3fwfe77fg2vjoe54t5xu