Title :
Robust generalized predictive control of Stewart-Gough platform
Author :
Lara-Molina, F.A. ; Rosário, J.M. ; Dumur, D.
Author_Institution :
Mech. Eng. Sch., State Univ. of Campinas, Campinas, Brazil
Abstract :
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.
Keywords :
mobile robots; position control; predictive control; robust control; tracking; Stewart-Gough platform; Youla parameterization; circular trajectory; computed torque control; control signal; measurement noise; position tracking control; robust GPC controller; robust generalized predictive control; Equations; Joints; Mathematical model; Noise; Noise measurement; Robots; Robustness;
Conference_Titel :
Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)
Conference_Location :
Bogota
Print_ISBN :
978-1-4577-1689-8
DOI :
10.1109/LARC.2011.6086793
