https://scholars.lib.ntu.edu.tw/handle/123456789/309265
標題: | Adaptive backstepping tracking control of the Stewart platform | 作者: | Huang, Chin-I LI-CHEN FU |
公開日期: | 2004 | 卷: | 5 | 起(迄)頁: | 5228-5233 | 來源出版物: | Proceedings of the IEEE Conference on Decision and Control | 會議論文: | 2004 43rd IEEE Conference on Decision and Control (CDC) | 摘要: | This paper presents an adaptive backstepping control approach for the motion control of a Stewart platform. The control scheme is proposed given that the overall system parameters are subject to uncertainties while only the positions and velocities of links are measurable. To achieve high performance tracking control of a 6 DOF Stewart platform normally requires the full knowledge of the system dynamics. In this paper, some important properties of the dynamics of the Stewart platform have been derived and exploited to develop an adaptive backstepping controller which can drive the motion tracking error to zero asymptotically. Stability analysis based on Lyapunov theory is performed to guarantee that the controller design is stable. Finally, the experimental results confirm the effectiveness of our control design. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-14544304657&doi=10.1109%2fCDC.2004.1429638&partnerID=40&md5=f8d0e0488a6ca287cfa6e61a35806796 http://scholars.lib.ntu.edu.tw/handle/123456789/309265 |
ISSN: | 07431546 | DOI: | 10.1109/CDC.2004.1429638 |
顯示於: | 資訊工程學系 |
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