Autor(es):
Becerra-Vargas, Mauricio [UNESP] ; IEEE
Data: 2018
Identificador Persistente: http://hdl.handle.net/11449/165267
Origem: Oasisbr
Assunto(s): Inverse Dynamics Control; H-Infinity Theory; Sliding Mode Control; Flight Simulator Motion Base; Stewart Platform; Parallel Robot; Inverse Dynamics Control; Inverse Dynamics Control; H-Infinity Theory; H-Infinity Theory; Sliding Mode Control; Sliding Mode Control; Flight Simulator Motion Base; Flight Simulator Motion Base; Stewart Platform; Stewart Platform; Parallel Robot; Parallel Robot
Descrição
Made available in DSpace on 2018-11-27T19:23:17Z (GMT). No. of bitstreams: 0 Previous issue date: 2015-01-01
The purpose of this study is to analyse and compare three control strategies based on the inverse dynamics control structure for a six degree of freedom flight simulator motion base driven by electromechanical actuators. All strategies are applied in the outer loop of the inverse dynamic control structure by considering imperfect compensation of the nonlinearities. Imperfect compensation is intentionally introduced in order to simplify the implementation of the inverse dynamic control structure. The first strategy is just a proportional and derivative control, the second is based on Lyapunov stability theory and the third is based on H-Infinity theory. Acceleration step response and smoothness of the actuators driven torques were used to compare the performance of the controllers. The results are based on numerical simulations.
UNESP Univ Estadual Paulista, GASI, Campus Sorocaba, BR-8087180 Sorocaba, SP, Brazil
UNESP Univ Estadual Paulista, GASI, Campus Sorocaba, BR-8087180 Sorocaba, SP, Brazil
