Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (7): 1689-1693.

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Control design of disturbance rejection for a Stewart platform based on the internal model principle

WANG Xiao-chen, YAO Yu, FU Shao-wen   

  1. Control and Simulation Center, Harbin Inst. of Technology, Harbin 150080, China
  • Received:2008-03-17 Revised:2008-05-15 Online:2009-07-20 Published:2010-01-03

Abstract: An adaptive control algorithm is proposed for Stewart platform which is usually used to as a flight simulator.Firstly,the coupling force caused by the dynamics of the legs is compensated using the Newton-Euler inverse dynamic formula,and the simple error dynamic is obtained.Then,in order to reject the external unknown disturbance,a task space controller with adaptive internal model is constructed,which can reject a class of harmonic disturbance with unknown frequency and asymptotically track the desired trajectory.The simulation results show the effectiveness of the proposed method.

CLC Number: 

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