LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform

作     者：Karmjit Singh Grewal Roger Dixon John Pearson 

作者机构：Control System GroupDepartment of Electronic and Electrical EngineeringLoughborough University Systems Engineering Innovation Centre(SEIC)British Aerospace and Marconi Electronic Systems(BAE Systems) 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2012年第9卷第1期

页      码：45-53页

摘      要：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.

主 题 词：Real-time control Kalman filter inverse kinematics pneumatic actuation Stewart-Gough platform 

学科分类：08[工学] 0835[0835] 0802[工学-机械学] 080201[080201] 

核心收录：

D　O　I：10.1007/s11633-012-0615-7

馆 藏 号：203248488...