A Stewart platform is a well-known mechanism which can be used for a wide variety of vibration control problems. In this paper, an LQR controller for a Stewart platform prototype is proposed which, combined with a proportional derivative gain matrix, achieves a good performance when compared with the classical PID control system. By testing some trajectories, we observe that the tracking error between the actual and pre-established trajectories is smaller by applying the controller supplied in this work. The final purpose will be the implementation of this kind of control in a real Stewart platform constructed at the Universitat Politècnica de Catalunya (UPC) by our research group. ; Peer Reviewed ; Postprint (published version)
Tracking control for a Stewart platform prototype
2015-01-01
Sonstige
Elektronische Ressource
Englisch
DDC: | 629 |
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