Stewart-Gough平台的鲁棒广义预测控制

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI:10.1109/LARC.2011.6086793

F. A. Lara-Molina, J. M. Rosário, D. Dumur

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引用次数: 10

摘要

研究了基于鲁棒广义预测控制的Stewart-Gough平台的位置跟踪控制应用。利用Youla参数化实现了GPC对测量噪声的鲁棒性。在圆形轨道上对Stewart-Gough平台的完整模型进行了仿真。将该鲁棒GPC控制器与经典的计算转矩控制(CTC)进行了比较。鲁棒后的GPC控制器在减小Stewart-Gough平台控制信号中噪声的影响方面表现出较好的性能。

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Robust generalized predictive control of Stewart-Gough platform

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

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