Disturbance-rejection high-precision motion control of a Stewart platform

Disturbance-rejection high-precision motion control of a Stewart platform

A simple robust autodisturbance rejection controller (ADRC) in linkspace is proposed to realize high precision tracking control of a general 6 degrees of freedom (DOF) Stewart platform in this paper. In practice, the performance of the controlled system is limited by how to select the high-quality d...

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Bibliographic Details
Published in:IEEE transactions on control systems technology Vol. 12; no. 3; pp. 364 - 374
Main Authors: Su, Y.X., Duan, B.Y., Zheng, C.H., Zhang, Y.F., Chen, G.D., Mi, J.W.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01-05-2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Applied sciences
Computer science; control theory; systems
Control systems
Control theory
Control theory. Systems
Degradation
Disturbances
Drives
Exact sciences and technology
Feedforward
Friction
Linkage mechanisms, cams
Mathematical models
Mechanical engineering. Machine design
Motion control
Noise measurement
Nonlinearity
PD control
Platforms
Proportional control
Robust control
Signal design
State feedback
Studies
Measurement
State feedback
Disturbance rejection
Non linear control
Control synthesis
Parallel mechanism
PD control
Modeling
Robust control
Friction
Linkage mechanism
Feedforward
Motion control
State estimation
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Summary:A simple robust autodisturbance rejection controller (ADRC) in linkspace is proposed to realize high precision tracking control of a general 6 degrees of freedom (DOF) Stewart platform in this paper. In practice, the performance of the controlled system is limited by how to select the high-quality differential signal in the presence of disturbances and measurement noise. Moreover, unmodeled nonlinear friction provides degradation on the motion precision. So, a nonlinear tracking differentiator in the feedforward path and an extended states observer in the feedback path are designed to obtain high quality differential signal and the real action component of unknown disturbance signals including nonlinear friction without a precise mathematical model. The nonlinear PD (proportional derivative) controller is used to synthesize the control action to give a superior performance. Extensive simulations and experimental results are presented to verify the effectiveness and ease of engineering implementation of the proposed method. The developed ADRC controller is simple and directly intuitive to the practitioners.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2004.824315