Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform

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...

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Main Authors: Zhi-Jie peng, 彭志傑
Other Authors: Lih-Chang Lin
Format: Others
Language:zh-TW
Published: 2005
Online Access:http://ndltd.ncl.edu.tw/handle/43281191806314538897
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spelling ndltd-TW-093NCHU04890422015-10-13T11:39:19Z http://ndltd.ncl.edu.tw/handle/43281191806314538897 Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform 使用摩擦觀測器之六軸史都華平台穩定適應控制設計與實現 Zhi-Jie peng 彭志傑 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. Lih-Chang Lin 林麗章 2005 學位論文 ; thesis 117 zh-TW
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description 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.
author2 Lih-Chang Lin
author_facet Lih-Chang Lin
Zhi-Jie peng
彭志傑
author Zhi-Jie peng
彭志傑
spellingShingle Zhi-Jie peng
彭志傑
Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform
author_sort Zhi-Jie peng
title Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform
title_short Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform
title_full Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform
title_fullStr Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform
title_full_unstemmed Stable Adaptive Control with Friction Observer for a Six-DOF Stewart Platform
title_sort stable adaptive control with friction observer for a six-dof stewart platform
publishDate 2005
url http://ndltd.ncl.edu.tw/handle/43281191806314538897
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