Model predictive controller combined with LQG controller and velocity feedback to control the stewart platform

Nadimi, Esmaeil S.; Bak, Thomas; Izadi‐Zamanabadi, Roozbeh

doi:10.1109/amc.2006.1631630

Cited by 4 publications

(3 citation statements)

References 10 publications

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“…The purpose of the control structure is to obtain a model of the system that predicts the future system's behaviour, calculates the minimization of a quadratic cost function over a finite future horizon using future predicted errors. It also elaborates a sequence of future control values; only the first value is applied both on the system and the model, finally the repetition of the whole procedure at the next sampling period happens accordingly to the preceding horizon strategy (Li & Salcudean, 1997) (Nadimi, Bak & Izadi, 2006) (Remillard & Boukas, 2007) (Su et al, 2004).…”

Section: Control Structurementioning

confidence: 99%

Supervision and Control Strategies of a 6-DOF Parallel Manipulator Using a Mechatronic Approach

Rosário¹,

Dumur²,

Uribe-Quevedo³

et al. 2010

Advanced Strategies for Robot Manipulators

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Section: Control Structurementioning

confidence: 99%

Supervision and Control Strategies of a 6-DOF Parallel Manipulator Using a Mechatronic Approach

Rosário¹,

Dumur²,

Uribe-Quevedo³

et al. 2010

Advanced Strategies for Robot Manipulators

View full text Add to dashboard Cite

“…Hence it is necessary to develop and apply new control techniques for parallel robots. The works related to position control of Stewart-Gough Platform have been addressed with different strategies: model based control [5] [6]; robust techniques against parameters uncertainty [7], [8]; and model predictive control [9]. Nevertheless, it is necessary to robustify the predictive controllers against external disturbances such as sensor noise to improve the dynamic performance of StewartGough platform.…”

Section: Introductionmentioning

confidence: 99%

Robust generalized predictive control of Stewart-Gough platform

Lara-Molina

Rosário

Dumur

2011

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE

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This paper addresses the position tracking control application of a Stewart-Gough platform using robust generalized predictive control. The robustification of GPC against measurement noise using Youla parameterization is performed. The simulation of the complete model of the Stewart-Gough platform is performed on a circular trajectory. The robustified GPC controller is compared with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance reducing the effect of the noise in the control signal of the Stewart-Gough Platform.

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“…Finally, other works focus more on position control strategy for SPM, using the dynamic model, e.g. computed torque control [14], H∞ controller [15] and model Predictive controller combined with LQG controller and velocity Feedback [16].…”

Section: Introductionmentioning

confidence: 99%

Architecture of predictive control for a Stewart platform manipulator

Lara-Molina

Rosário

Dumur

2010

2010 8th World Congress on Intelligent Control and Automation

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This paper presents the elaboration of a comprehensive Matlab-Simulink TM virtual environment of a Stewart platform. This simulation tool includes the kinematic and dynamic modeling of the platform, along with the control loops of the actuators and coupled to a trajectory generation module, it also offers complete visualization features through a dedicated graphic user interface. This simulator was modularly designed following open architecture principles, with plug and play modules allowing a global kinematics, dynamics and control of the machine integral analysis. The first part of the paper focuses on the features of this simulator, by describing the different available models and tools. Based on this computeraided control system design environment, then the second part develops a comparison between two different control strategies, on the one hand, the classical PID joint control structure and on the other hand, the Generalized Predictive Control (GPC) strategy. Finally, the virtual environment provides time domain results and performance comparison, in addition the spatial tracking error and the disturbance reaction are analyzed for both controllers, showing better accuracy with the GPC one.

show abstract

Model predictive controller combined with LQG controller and velocity feedback to control the stewart platform

Cited by 4 publications

References 10 publications

Supervision and Control Strategies of a 6-DOF Parallel Manipulator Using a Mechatronic Approach

Supervision and Control Strategies of a 6-DOF Parallel Manipulator Using a Mechatronic Approach

Robust generalized predictive control of Stewart-Gough platform

Architecture of predictive control for a Stewart platform manipulator

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