H∞ Control Design of The Stewart Platform via Fuzzy Logic Scheme

• Main Authors: Jing-Sheng Chuang, 莊景盛
• Other Authors: Bor-Sen Chen
• Format: Others
• Language: en_US
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/61072160742891549085

碩士 === 國立清華大學 === 電機工程學系 === 88 === In this study, the nonlinear dynamic equations of the Stewart Platform robot manipulator are derived by Lagrangian approach. For control design of motion, a fuzzy linear control design method is developed for the Stewart platform with optimal H∞ robustness performance. First, the Takagi and Sugeno fuzzy linear model is employed to approximate the Stewart platform system. Next, based on the fuzzy linear model, an H∞ fuzzy controller is developed for stabilization (or regulation) of the Stewart platform system, and at the same time the effect of fuzzy approximation error and external disturbance on control performance is attenuated to a minimum level. In the proposed fuzzy linear control method, the fuzzy linear system provides rough control of the Stewart platform, while the H∞ scheme provides precise control to achieve the optimal robustness performance. Linear matrix inequality (LMI) techniques are employed to solve this robust fuzzy control problem. Finally, simulation and experiment results are given to confirm that the H∞ fuzzy control can be efficiently applied to practical and complex system designs.