Disturbance-Rejection High-Precision Motion Control of a Stewart Platform

Su, Yu; Duan, Baoyan; Zheng, Chunhong; Zhang, Y.F.; Chen, G.D.; Mi, Jian

doi:10.1109/tcst.2004.824315

Cited by 195 publications

(100 citation statements)

References 21 publications

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“…This filter was independently proposed by Han and Wang [17] and Emaru and Tsuchiya [18,19] (see also [20] for some discussion). After that, some evaluation results of their filter [21][22][23] and its applications [24][25][26][27][28][29] were reported. The main advantage of their filter is that it realizes finite time convergence of the output to the input value when a constant input is provided.…”

Section: Journal Of Control Science and Engineeringmentioning

confidence: 99%

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Jin

Kikuuwe

Yamamoto

2012

Journal of Control Science and Engineering

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This paper presents the results of quantitative performance evaluation of an authors' new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

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Section: Journal Of Control Science and Engineeringmentioning

confidence: 99%

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Jin

Kikuuwe

Yamamoto

2012

Journal of Control Science and Engineering

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“…17 The ADRC has been successfully employed in many electromechanical systems. 11,12,18,19 In this article, dynamic modelling is established first to reveal the coupling relationship among the ISP gimbals. Based on the simplified dynamic model, related simulation analyses are conducted and the result shows coupling torque is slight and can be neglected.…”

Section: Introductionmentioning

confidence: 99%

Extended state observer/proportion integration differentiation compound control based on dynamic modelling for an aerial inertially stabilized platform

Zhou

Zhu

Zhao

et al. 2017

International Journal of Advanced Robotic Systems

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This article presents an extended state observer/proportion integration differentiation compound control scheme based on dynamic modelling for a three-axis inertially stabilized platform applied for aerial remote sensing. To reveal the effects of dynamic couplings among different gimbals and the base on the system control performance, the dynamic modelling of the inertially stabilized platform system is developed. Then, an extended state observer /proportion integration differentiation composite controller is designed to improve the tracking precision and stability of the inertially stabilized platform, whose disturbance rejection ability is analysed by simulations. During simulation analysis, the LuGre friction model is introduced to represent the effects of main disturbance torques. To verify the method, the experiments are conducted. The results show that the extended state observer/proportion integration differentiation compound scheme has excellent capability in disturbance rejection, by which the stabilization accuracy of the inertially stabilized platform has improved significantly.

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“…Consequently, the control system can react promptly to the changes either in the internal dynamics of the plant, or its external disturbances. It has been applied in many real systems (Su et al, 2004;Zheng & Gao, 2006). As first shown in Huang, Xu, Han, and Lam (2001) for aircraft flight control and then in Miklosovic and Gao (2005) for the jet engine problem, ADRC is a natural solution to disturbance decoupling control problems in the presence of large uncertainties.…”

Section: Introductionmentioning

confidence: 99%