Abstract
This paper is concerned with the practical application control of a pneumatically actuated Stewart-Gough platform with 6-degrees of freedom (6-DOF). The control approach for motion control of the platform is presented using a modern control technique, namely, linear quadratic Gaussinn (LQG) with reference tracking. The LQG controller is the combination of a Kalman filter, i. e., a linear-quadratic estimator (LQE) with a linear-quadratic regulator (LQR). The robustness of the control scheme is accessed under various load conditions, and the experimental results are shown.
Original language | English |
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Pages (from-to) | 45-53 |
Number of pages | 9 |
Journal | International Journal of Automation and Computing |
Volume | 9 |
Issue number | 1 |
DOIs | |
Publication status | Published - 1 Feb 2012 |
Keywords
- inverse kinematics
- Kalman filter
- pneumatic actuation
- Real-time control
- Stewart-Gough platform
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Applied Mathematics