TY - GEN
T1 - Study on Stewart platform control method based on model reference adaptive control
AU - Jian, Xue
AU - Zhiyong, Tang
AU - Zhongcai, Pei
PY - 2011
Y1 - 2011
N2 - For the benefits such as strong structural stiffness and high movement accuracy, Stewart platform has been widely used in industry. This paper presents a control method, which is based on the theory of model reference adaptive control, aiming to solve the control difficulties of the Stewart platform system, which is multivariate, highly nonlinear and multi-parameter coupled. Taking Narendra's model reference adaptive control method as the theoretical basis, this control method doesn't differentiate measured values, but compare the system output and reference model, and change the system parameters adaptively to make the system output move closer to the reference model. This method can effectively eliminate the asymmetry of asymmetrical cylinders, and has robustness for the load force disturbance. Computer simulations and experiment results show that this method enables the system to obtain a good dynamic performance.
AB - For the benefits such as strong structural stiffness and high movement accuracy, Stewart platform has been widely used in industry. This paper presents a control method, which is based on the theory of model reference adaptive control, aiming to solve the control difficulties of the Stewart platform system, which is multivariate, highly nonlinear and multi-parameter coupled. Taking Narendra's model reference adaptive control method as the theoretical basis, this control method doesn't differentiate measured values, but compare the system output and reference model, and change the system parameters adaptively to make the system output move closer to the reference model. This method can effectively eliminate the asymmetry of asymmetrical cylinders, and has robustness for the load force disturbance. Computer simulations and experiment results show that this method enables the system to obtain a good dynamic performance.
KW - model reference adaptive control
KW - nonlinear model
KW - stewart platform
UR - https://www.scopus.com/pages/publications/80053163823
U2 - 10.1109/CYBER.2011.6011756
DO - 10.1109/CYBER.2011.6011756
M3 - 会议稿件
AN - SCOPUS:80053163823
SN - 9781612849102
T3 - 2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
SP - 17
EP - 20
BT - 2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
T2 - 1st Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
Y2 - 20 March 2011 through 23 March 2011
ER -