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  • 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.
  • 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. (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/00216305:26210/10:PU87741!RIV11-MSM-26210___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM0021630518)
http://linked.open...iv/cisloPeriodika
  • 164
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
  • 290107
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/10:PU87741
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...odStatuVydavatele
  • CH - Švýcarská konfederace
http://linked.open...ontrolniKodProRIV
  • [2650EE853506]
http://linked.open...i/riv/nazevZdroje
  • Solid State Phenomena
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 2010
http://linked.open...iv/tvurceVysledku
  • Březina, Tomáš
  • Březina, Lukáš
http://linked.open...n/vavai/riv/zamer
issn
  • 1012-0394
number of pages
http://localhost/t...ganizacniJednotka
  • 26210
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