Study on Stewart platform control method based on model reference adaptive control

Abstract

For the benefits such as strong structural stiffness and high movement accuracy, Stewart platform has been widely used in industry. This paper presents a control method, which is based on the theory of model reference adaptive control, aiming to solve the control difficulties of the Stewart platform system, which is multivariate, highly nonlinear and multi-parameter coupled. Taking Narendra's model reference adaptive control method as the theoretical basis, this control method doesn't differentiate measured values, but compare the system output and reference model, and change the system parameters adaptively to make the system output move closer to the reference model. This method can effectively eliminate the asymmetry of asymmetrical cylinders, and has robustness for the load force disturbance. Computer simulations and experiment results show that this method enables the system to obtain a good dynamic performance.