Model-based position tracking control for a 6-dof electrohydraulic stewart platform

Davliakos, I; Papadopoulos, E

dc.contributor.author	Davliakos, I	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:50Z
dc.date.available	2014-03-01T02:44:50Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31966
dc.subject	Degree of Freedom	en
dc.subject	Exponential Convergence	en
dc.subject	Integrable System	en
dc.subject	Rigid Body	en
dc.subject	Stewart Platform	en
dc.subject	Tracking Control	en
dc.subject	Input Output	en
dc.subject.other	Computer networks	en
dc.subject.other	Hydraulics	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Integrated optics	en
dc.subject.other	Linearization	en
dc.subject.other	Spacecraft	en
dc.subject.other	Control and automation	en
dc.subject.other	Model-based	en
dc.subject.other	Stewart platforms	en
dc.subject.other	Tracking (position)	en
dc.title	Model-based position tracking control for a 6-dof electrohydraulic stewart platform	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2007.4433655	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2007.4433655	en
heal.identifier.secondary	4433655	en
heal.publicationDate	2007	en
heal.abstract	In this paper, a position tracking controller for a six-degree-of-freedom (dof) electrohydraulic Stewart platform mechanism is developed that includes a fast inner model-based force tracking loop. A full rigid body model and an electrohydraulic actuator model, including friction and servovalve characteristics are employed and described by a set of integrated system equations. The control analysis is based on a nonlinear input-output linearization control approach. The developed control law also contains a PD part, responsible for the exponential convergence of the tracking error to zero. Simulations with typical desired trajectories are presented and a good tracking performance is obtained. ©2007 IEEE.	en
heal.journalName	2007 Mediterranean Conference on Control and Automation, MED	en
dc.identifier.doi	10.1109/MED.2007.4433655	en