Optimal H Infinity Controller Applied to a Stewart Platform

Breganon, Ricardo; Montezuma, Marcio A. F.; Souza, Mateus Moreira de; Lemes, Rodrigo C.; Belo, Eduardo Morgado

doi:10.22161/ijaers.5.7.7

Cited by 5 publications

(3 citation statements)

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“…The position of the movable platform can be written in the base platform system as shown in Equation (4), then length vectors Vi of six actuators can be obtained utilizing Equation (5) and shown in Figure 3.…”

Section: Inverse Kinematicmentioning

confidence: 99%

“…Attitude and position control of Stewart platforms are complexing problems in several areas of study [9]. They were obtained using different techniques like, PID controllers with gains obtained by cooperative coevolution algorithm [2], fuzzy PID and feedback controllers with gains defined in reference points and selected in other points by fuzzy algorithm [1], [3], [6], PD controller with gains varying with adaptive algorithm [4], H infinity controller [5], [7]. In this work, it was used the Stewart platform designed by the Airspace Control Laboratory of the Engineering School of São Carlos -USP.…”

Section: Introductionmentioning

confidence: 99%

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A Comparative Analysis of PID, Fuzzy and H Infinity Controllers Applied to a Stewart Platform

Breganon¹,

Montezuma²,

Souza³

et al. 2019

IJAERS

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This work presents the design of three controllers, the H infinity controller with output feedback, the PID controller and the Fuzzy controller applied to a Stewart platform. The actuator model was obtained by a step voltage input to the electric motor and measuring its displacement by the encoders coupled, in each of the respective axes of the motors. The motion transmission relation mechanism between the motor shaft and each actuator is obtained by the displacement spindle from the rotation of motor which are measured by the corresponding encoder. The kinematics and dynamics platform's data compose the whole systems models. Several experiments were carried out on the real Stewart platform with the help of an XsensMTi-G inertial sensor to measure the Platform Euler angles. The experimental results obtained by the three controllers were satisfactory in position control and orientation of the Stewart platform.

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Section: Inverse Kinematicmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Comparative Analysis of PID, Fuzzy and H Infinity Controllers Applied to a Stewart Platform

Breganon¹,

Montezuma²,

Souza³

et al. 2019

IJAERS

Self Cite

View full text Add to dashboard Cite

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“…In particular, the ℋ ∞ controller is also a valid option in pendulum system applications, as shown in the following works, which discuss: the stabilization of the wheeled inverted pendulum (Rigatos et al, 2020;Thanh et al, 2019), and of a Furuta pendulum (Rigatos et al, 2018); position and orientation control on a Stewart platform (Breganon et al, 2018); the stability control of a 2-degree-of-freedom quadrotor (Sampaio et al, 2011); and the position analysis of a brushless motor (Hans & Ghosh, 2020), component commonly used in aeropendulum systems; among others.…”

Section: Introductionmentioning

confidence: 99%

Model Identification and H∞ Control of an Aeropendulum

Breganon,

Alves,

De Almeida

et al. 2023

JART

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The aeropendulum is a nonlinear system that consists of a rod equipped with a motorized propeller at one of its ends and connected to a pivot at its other end. This pivot receives a torsional moment through the aerodynamic effects generated by the propeller thrust force. From a control point of view, the aeropendulum is a plant that imposes a significant complexity on the design of controllers. In view of that, this system can be used in didactic observations and real applications of control theory concepts. This work presents the model identification and control of an aeropendulum system prototype. The model has as control input the voltage applied to the motor that drives the propeller and the rod angle as system output, measured by an incremental encoder. The identification process was conducted using the ident function of the Matlab® software. Based on the obtained model, an controller was designed to stabilize the system around the operating point, maintaining the rod in a specific position. A square wave was used as a reference for the angular variation of the rod to verify the controller's efficiency in tracking a required angular trajectory. Simulation and experimental tests were conducted to validate the obtained mathematical model and the controller design. The results confirmed that the considered methodology was satisfactory for the studied case.

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