Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform
碩士 === 國立中興大學 === 機械工程學系 === 93 === In this thesis, a new stable adaptive controller with friction observer for six-DOF Stewart platforms is proposed. By considering a nonlinear friction observer to compensate for the effects of friction and a nonlinear damping for model uncertainty, a proper Lyapun...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2005
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/43281191806314538897 |
| Summary: | 碩士 === 國立中興大學 === 機械工程學系 === 93 === In this thesis, a new stable adaptive controller with friction observer for six-DOF Stewart platforms is proposed. By considering a nonlinear friction observer to compensate for the effects of friction and a nonlinear damping for model uncertainty, a proper Lyapunov function candidate is selected. Then a stable adaptive controller, with parameters adaptation law with modification, is derived using Lyapunov stability theory. Computer simulations and implementation studies using a dSPACE DS1103 single-board controller are presented to illustrate the effectiveness of the suggested control strategy.
|
|---|