QFT robust control of hydraulic driven stewart platform using dynamics real-time compensation

Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Volumn , Issue , 2008, Pages 950-954

  Tang, Jianlin ^a   Yuan, Lipeng ^a   Zhao, Keding ^a  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

Author keywords

Disturbance force; Dynamics real time compensation; Hydraulic driven Stewart platform; QFT robust controller

Indexed keywords

ARCHITECTURAL DESIGN; CLOSED LOOP CONTROL SYSTEMS; CONTROL THEORY; DYNAMICS; ELASTIC MODULI; EQUATIONS OF MOTION; FLUID MECHANICS; HYDRAULICS; INDUSTRIAL ENGINEERING; INTELLIGENT CONTROL; MATHEMATICAL MODELS; ROBUST CONTROL; SYSTEM STABILITY; UNCERTAIN SYSTEMS; UNCERTAINTY ANALYSIS;

CLOSED-LOOP CONTROLS; CONTROL AND AUTOMATION; CONTROL STRATEGIES; DISTURBANCE FORCE; DYNAMICAL COUPLING; DYNAMICS EQUATIONS; DYNAMICS REAL-TIME COMPENSATION; EQUIVALENT CONTROL; FEED FORWARD; FEEDBACK CONTROL LOOPS; HYDRAULIC DRIVEN STEWART PLATFORM; LOAD DISTURBANCES; MODEL UNCERTAINTIES; PARALLEL MOTION; QFT ROBUST CONTROLLER; QUANTITATIVE FEEDBACK THEORY CONTROL; RESPONSE TIME; ROBUST STABILITY; SERVO TRACKING; STEWART PLATFORMS; UNKNOWN DISTURBANCE;

CONTROL SYSTEM STABILITY;

EID: 52149112480     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/WCICA.2008.4593048     Document Type: Conference Paper

References (10)

1. D. Steward, "A platform with six degree of freedom,"in Proc. Inst. Mech.Eng., London, vol. 180,1965, pp. 371-386.
2. Haoquan Yang, "Research on 6-dof motion system of flight simulation and its hydraulic servo system," Ph.D. dissertation, Institute of Fluid Power Transmission and Control, Harbin Institute of Technology, Harbin, China,2002.
3. Van Schothorst G, "Modeling of long-stroke hydraulic servo-systems for flight simulator motion control and system design,"Ph.D. dissertation, Department of Mechanical Engineering and Marine Technology, Delft University of Technology, Delft, The Netherlands, 1997.
4. Ghobakhloo, A. Eghtesad, M. Azadi, M, "Position control of a stewart-gough platform using inverse dynamics method with full dynamics," Proc. IEEE Int. Conf. Advanced Motion Control,, Istanbul, Mar. 2006, pp. 50-55.
5. Alain C, "Dynamic modeling of parallelrobot for computed-torque control," International Journal of Robotics Research, vol. 17, no. 12, pp. 1325-1336, 1998.
6. Jun Wu, Tiemin Li, Liwen Guan, "Computed-torque control for a moving flight simulator platform," Journal of Tsinghua University(Science and Technology), vol. 46,no. 8,pp. 1405-1413, 2006.
7. Lee S H, Song J B, Choi W C, Hong D, "Position control of a stewart platform using inverse dynamics control with approximate dynamics," Mechatronics, vol. 13,no. 6,pp. 605-619, 2003.
8. Hongren Li, Hydraulic Control System, Beijing:National Defense Industry Press, 1990.
9. Yanliang Dong, "Research on kinematics calibration and kinematic parameters calculation of stewart platform," Ph.D. dissertation, Institute of Fluid Power Transmission and Control, Harbin Institute of Technology, Harbin, China,2002.
10. Yaniv, O., Chait, Y., Borghesani, C., 1997, "The QFT design toolbox for MATLAB," Procs. 2nd IFAC Symp on Robust Control Design, pp. 107-112.