Autor(es):
Becerra-Vargas, Mauricio [UNESP]
Data: 2018
Identificador Persistente: http://hdl.handle.net/11449/177529
Origem: Oasisbr
Assunto(s): Flight simulator motion base; H-Infinity theory; Inverse dynamics control; Parallel robot; Sliding mode control; Stewart platform; Flight simulator motion base; Flight simulator motion base; H-Infinity theory; H-Infinity theory; Inverse dynamics control; Inverse dynamics control; Parallel robot; Parallel robot; Sliding mode control; Sliding mode control; Stewart platform; Stewart platform
Descrição
Made available in DSpace on 2018-12-11T17:25:51Z (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.
GASI, UNESP, Univ Estadual Paulista, Campus Sorocaba
GASI, UNESP, Univ Estadual Paulista, Campus Sorocaba
