LQG controller design applied to a pneumatic stewart-gough platform

Research output: Contribution to journalArticle

Authors

Colleges, School and Institutes

External organisations

  • Loughborough University
  • BAE Systems plc

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.

Details

Original languageEnglish
Pages (from-to)45-53
Number of pages9
JournalInternational Journal of Automation and Computing
Volume9
Issue number1
Publication statusPublished - 1 Feb 2012

Keywords

  • inverse kinematics, Kalman filter, pneumatic actuation, Real-time control, Stewart-Gough platform