DocumentCode :
3325978
Title :
Nonlinear robust control method for active vibration isolation using a Stewart platform
Author :
Yang, Tao ; Ma, Jia ; Hou, Zeng-Guang ; Jing, Fengshui ; Tan, Min
Author_Institution :
Key Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing
fYear :
2009
fDate :
22-25 Feb. 2009
Firstpage :
1059
Lastpage :
1064
Abstract :
This paper focuses on developing a nonlinear robust controller to solve the active vibration isolation problem using a Stewart platform. The dynamics of the Stewart platform driven by voice coil actuators is derived by the Newton-Euler method. The influence factors of vibration isolation are taken into account, such as the nonlinear characteristics of the dynamic model, the parameter perturbation and the unmodeled dynamics, etc. The favorable feature of the proposed controller is that it is not necessary for the upper bound of the unmatched uncertainties to be known in advance. A tuning rule is designed to deal with the estimation problem of the uncertainties. The uniformly ultimately bounded (UUB) stability of the controller is demonstrated by applying the Lyapunov approach and a UUB lemma. The simulation results illustrate that the controller can effectively attenuate low frequency vibrations in all six degrees of freedom (DOFs) and the satisfactory vibration isolation performance can be achieved.
Keywords :
Newton method; nonlinear control systems; robust control; uncertain systems; vibration isolation; Newton-Euler method; Stewart platform; active vibration isolation problem; nonlinear robust control; tuning rule; uncertain system; voice coil actuator; Actuators; Coils; Frequency; Instruments; Intelligent robots; Robotics and automation; Robust control; Robustness; Uncertainty; Vibration control; Stewart platform; active vibration isolation; robust control; voice coil actuator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
Type :
conf
DOI :
10.1109/ROBIO.2009.4913147
Filename :
4913147
Link To Document :
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