Stewart platform model with uncertain parameters

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F10%3APU87741" target="_blank" >RIV/00216305:26210/10:PU87741 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Stewart platform model with uncertain parameters

Original language description

The paper deals with development of uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics 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 regarding H-infinity controller designed according to the obtained model.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JR - Other machinery industry

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2010

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Solid State Phenomena

ISSN

1012-0394

e-ISSN

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Volume of the periodical

2010

Issue of the periodical within the volume

164

Country of publishing house

CH - SWITZERLAND

Number of pages

6

Pages from-to

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UT code for WoS article

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EID of the result in the Scopus database

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