[1] Stewart D.A platform with six degree of freedom[J].Proc.of the Institution of Mechanical Engineering,1965,180(15):371-386. [2] Sirouspour M,Salcudean S.Nonlinear control of hydraulic ro-bots[J].IEEE Trans.on Robotics and Automation,2001,17 (2).173-182. [3] Kim D H,Kang J Y,Lee K Ⅰ.Robust tracking control design for a 6 DOF parallel manipulator[J].Journal of Robotic Systems,2000,17(20):527-547. [4] Kim H S,Cho Y M,Lee K Ⅱ.Robust nonlinear task space control for 6 DOF parallel manipulator[J].Automatica,2005,41.1591-1600. [5] JI Zhiming.Study of the effect of leg inertia in Stewart platform[C]//IEEE International Conference on Robotics and Automation,1993.121-126. [6] Lee Se-Han.Position control of a Stewart platform using inverse dynamics control with approximate dynamics[J].Mechatronics,2003,131 605-619. [7] AJ van der Schaft.L2 gain and passivity techniques in nonlinear control[M].New York,Spinger,1996. [8] Francis B A,Wonham W M.The internal model principle of control theory[J].Automatica,1976,12:457-465. [9] Isidori A,Byrnes C I.Output regulation of nonlinear systems[J].IEEETrans.on Automatic and Control,1990,35(2):131-140. [10] Nikiforov VO.Adaptive non-linear tracking with complete compensation of unknown disturbance[J].European Journal of Control,1998,4:132-139. [11] Serrani A,Isidori A,Marconi L.Semiglobal nonlinear outputregulation with adaptive internal mode[J].IEEE Trans.on Automatic and Control,2001,46(8):1178-1194. [12] Zarikian G,Serrani A.External model-based disturbance rejection in tracking control of euler-Lagrange systems[C]//Proc.of the American Control Conference,Portland,2005:3562-3567. [13] Harib Khalifa H.Dynamic modeling,identification and control of Stewart platform-based machine tools[D].The Ohio State University,1997. [14] Fu Shaowen,Yao Yu,Shen Tielong.Nonlinear robust control with partial inverse dynamic compensation for a Stewart platform manipulator[J] ,International Journal of Modelling,Identification and Control,2006,1(1):44-51. |