Passivity Based Control Of Stewart Platform For Trajectory Tracking

Abstract

This study is about passivity based control, as one of the tools available to design robust controllers, is introduced for trajectory tracking of the Stewart platform. PD+ controller is designed based on passivation principle so that the closed loop system becomes globally uniform and asymptotically stable. In the study, the mathematical model of the Stewart platform, derived from Euler Lagrange equations of motion, is Simulated on MATLAB/Simulink. So as to get the desired leg-length trajectory, the inverse kinematics formulation is investigated. The mathematical model is verified using automatic dynamic analysis of mechanical systems (ADAMS) software. More realistic results are observed from ADAMS simulation results.