LQG controller design applied to a pneumatic stewart-gough platform

Research output: Contribution to journalArticlepeer-review

Standard

LQG controller design applied to a pneumatic stewart-gough platform. / Grewal, Karmjit Singh; Dixon, Roger; Pearson, John.

In: International Journal of Automation and Computing, Vol. 9, No. 1, 01.02.2012, p. 45-53.

Research output: Contribution to journalArticlepeer-review

Harvard

APA

Vancouver

Author

Bibtex

@article{72f7e996531948bc95effdced826a08a,
title = "LQG controller design applied to a pneumatic stewart-gough platform",
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.",
keywords = "inverse kinematics, Kalman filter, pneumatic actuation, Real-time control, Stewart-Gough platform",
author = "Grewal, {Karmjit Singh} and Roger Dixon and John Pearson",
year = "2012",
month = feb,
day = "1",
doi = "10.1007/s11633-012-0615-7",
language = "English",
volume = "9",
pages = "45--53",
journal = "International Journal of Automation and Computing",
issn = "1476-8186",
publisher = "Springer",
number = "1",

}

RIS

TY - JOUR

T1 - LQG controller design applied to a pneumatic stewart-gough platform

AU - Grewal, Karmjit Singh

AU - Dixon, Roger

AU - Pearson, John

PY - 2012/2/1

Y1 - 2012/2/1

N2 - 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.

AB - 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.

KW - inverse kinematics

KW - Kalman filter

KW - pneumatic actuation

KW - Real-time control

KW - Stewart-Gough platform

UR - http://www.scopus.com/inward/record.url?scp=84857489323&partnerID=8YFLogxK

U2 - 10.1007/s11633-012-0615-7

DO - 10.1007/s11633-012-0615-7

M3 - Article

AN - SCOPUS:84857489323

VL - 9

SP - 45

EP - 53

JO - International Journal of Automation and Computing

JF - International Journal of Automation and Computing

SN - 1476-8186

IS - 1

ER -