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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 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 to an H-infinity controller designed according to the obtained model.
  • 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 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 to an H-infinity controller designed according to the obtained model. (en)
Title
  • Stewart Platform Model with Uncertain Parameters
  • Stewart Platform Model with Uncertain Parameters (en)
skos:prefLabel
  • Stewart Platform Model with Uncertain Parameters
  • Stewart Platform Model with Uncertain Parameters (en)
skos:notation
  • RIV/00216305:26210/09:PU82724!RIV10-MSM-26210___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM0021630518)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 343827
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/09:PU82724
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Stewart platform, uncertain system, H-infinity controller (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [8DFDC622E2AF]
http://linked.open...v/mistoKonaniAkce
  • Vilnius
http://linked.open...i/riv/mistoVydani
  • Vilnius
http://linked.open...i/riv/nazevZdroje
  • The 5th International Conference Mechatronic Systems and Materials MSM-2009
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Březina, Tomáš
  • Březina, Lukáš
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
http://linked.open...n/vavai/riv/zamer
number of pages
http://purl.org/ne...btex#hasPublisher
  • Vilnius Gediminas Technical University
https://schema.org/isbn
  • 978-9955-28-493-2
http://localhost/t...ganizacniJednotka
  • 26210
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