제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.147.4-147
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- 2001
The Experiment of the Robust Multi-Variable Controller and the LQG/LTR Controller for the Stewart Platform
- Joon, Heo-Seong (Pusan National Univ.) ;
- Woo, Ko-Dong (Pusan National Univ.) ;
- Chul, Han-Myung (Pusan National Univ.)
- Published : 2001.10.01
Abstract
This work presents the robust controller and the LQG/LTR controller for the stewart platform. To simplify the dynamics we combine equation of the stewart platform and linearized one of hydraulic actuators not considered condensability of the fluid. Through the connection of two dynamic equations we can omit force feedback process of actuators and design controllers for the whole system. We applied two controllers on the stewart platform and show the adequacy controllers through the result of simulation and experiment.
Keywords