Model-based control of a 6-dof electrohydraulic Stewart-Gough platform

Davliakos, I; Papadopoulos, E

dc.contributor.author	Davliakos, I	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:28:46Z
dc.date.available	2014-03-01T01:28:46Z
dc.date.issued	2008	en
dc.identifier.issn	0094-114X	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18965
dc.subject	Hydraulic servomechanisms	en
dc.subject	Model-based control	en
dc.subject	Parallel mechanisms	en
dc.subject	Stewart platform	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	Chlorine compounds	en
dc.subject.other	Dynamics	en
dc.subject.other	Equations of motion	en
dc.subject.other	Hydraulic models	en
dc.subject.other	Hydraulic structures	en
dc.subject.other	Hydraulics	en
dc.subject.other	Acceleration feedback	en
dc.subject.other	Dynamic modelling	en
dc.subject.other	Error dynamics	en
dc.subject.other	Feedback controllers	en
dc.subject.other	Hydraulic servomechanisms	en
dc.subject.other	Load variations	en
dc.subject.other	Low-complexity	en
dc.subject.other	Model-based control	en
dc.subject.other	Model-based controllers	en
dc.subject.other	Parallel mechanisms	en
dc.subject.other	Rigid bodies	en
dc.subject.other	Stewart platform	en
dc.subject.other	Stewart-Gough platforms	en
dc.subject.other	Fluid mechanics	en
dc.title	Model-based control of a 6-dof electrohydraulic Stewart-Gough platform	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.mechmachtheory.2007.12.002	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.mechmachtheory.2007.12.002	en
heal.language	English	en
heal.publicationDate	2008	en
heal.abstract	In this paper, a novel model-based controller for a six Degree-of-Freedom (dof) electrohydraulic Stewart-Gough platform is developed. Dynamic models of low complexity are employed that describe the salient dynamics of the main electrohydraulic components. Rigid body equations of motion and hydraulics dynamics, including friction and servovalve models are used. The developed feedback controller uses the system dynamic and hydraulic model to yield servovalve currents, so that the error dynamics converge asymptotically to zero, independent of load variations. In this approach, force, pressure or acceleration feedback is not required. Simulations with typical desired trajectory inputs are presented and a good performance of the controller is obtained. The proposed methodology can be extended to electrohydraulic serial or closed-chain manipulators and simulators. (C) 2007 Elsevier Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Mechanism and Machine Theory	en
dc.identifier.doi	10.1016/j.mechmachtheory.2007.12.002	en
dc.identifier.isi	ISI:000258836200003	en
dc.identifier.volume	43	en
dc.identifier.issue	11	en
dc.identifier.spage	1385	en
dc.identifier.epage	1400	en