Stewart Platform Model with Uncertain Parameters
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F09%3APU82724" target="_blank" >RIV/00216305:26210/09:PU82724 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Stewart Platform Model with Uncertain Parameters
Original language description
The paper deals with creating of an uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for an H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of theSimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes to an H-infinity controller designed according to the obtained model.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JR - Other machinery industry
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
The 5th International Conference Mechatronic Systems and Materials MSM-2009
ISBN
978-9955-28-493-2
ISSN
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e-ISSN
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Number of pages
2
Pages from-to
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Publisher name
Vilnius Gediminas Technical University
Place of publication
Vilnius
Event location
Vilnius
Event date
Oct 22, 2009
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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