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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Remillard, V. Boukas, E.-K. |
| Copyright Year | 2006 |
| Description | Author affiliation: Dept. of Mech. Eng., Ecole Polytech. de Montreal, Que. (Remillard, V.; Boukas, E.-K.) |
| Abstract | This paper deals with the control of the Gough-Stewart platform (GSP) which is very well known to be a very difficult dynamical system to control. The GSP we are considering in this paper is a six degree of-freedom (DOF) parallel manipulator. The dynamic of such a system is highly nonlinear. A Takagi and Sugeno (T-S) fuzzy model is proposed for this purpose to perform the analysis and the design of a stabilizing controller. The design conditions for this controller are in the linear matrix inequality (LMI) setting which makes their resolution easy using existing tools in the marketplace. To show the efficiency of our proposed results, simulation results with the designed controller are done on the real behavior of the platform |
| Starting Page | 108 |
| Ending Page | 113 |
| File Size | 1992684 |
| Page Count | 6 |
| File Format | |
| ISBN | 1424403626 |
| DOI | 10.1109/NAFIPS.2006.365869 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-06-03 |
| Publisher Place | Canada |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Fuzzy control Kinematics Leg Mechanical engineering Telephony Nonlinear dynamical systems State feedback Nonlinear control systems Control systems Nonlinear systems |
| Content Type | Text |
| Resource Type | Article |
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