NDLI: A look at the pole/zero structure of a Stewart platform using special coordinate basis

Content Provider	IEEE Xplore Digital Library
Author	Thayer, D. Vagners, J.
Copyright Year	1998
Description	Author affiliation: Dept. of Aeronaut. & Astronaut., Washington Univ., Seattle, WA, USA (Thayer, D.)
Abstract	The cubic hexapod, or Stewart platform, has become a popular approach to the problem of active control of vibration because it can be placed directly in the path of vibration transmission and provides 6-axis isolation. Typically the control approach has been to use classical techniques with a variety of sensors, but a multi-input, multi-output (MIMO) approach holds much promise. Before designing controllers, however, it is important to know a great deal about the model, particularly the zero structure. Information on the size and position (minimum vs. nonminimum phase) of system zeros is necessary in predicting the opportunity for robustness recovery in MIMO controller design. A technique known as special coordinate basis (SCB) was applied to a model of a hexapod that was constructed by the Hood Technology Corporation and the University of Washington. Examining sensors including load cells, geophones and linear variable differential transforms (LVDT), it was found that, though the use of other sensors offers some significant advantages for MIMO control over classical approaches, the well known robustness recovery tool known as loop transfer recovery (LTR), cannot be used because of the presence of small nonminimum phase zeros.
Starting Page	1165
Ending Page	1169
File Size	614433
Page Count	5
File Format	PDF
ISBN	0780345304
ISSN	07431619
DOI	10.1109/ACC.1998.703595
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-06-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Poles and zeros MIMO Vibration control Control systems Space vehicles Robust control Space technology Transformers Interferometry Laboratories
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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