文章基本信息

标题：Discrete-time Adaptive Control of Pneumatic Actuators for 6-DoF Stewart Platform
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作者：Nikolay V. Kuznetsov ; Boris Andrievsky ; Iuliia Zaitceva 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：10
页码：2803-2808
DOI：10.1016/j.ifacol.2022.10.155
语种：English
出版社：Elsevier
摘要：This paper deals with computer-controlled pneumatic actuators for the Gough-Stewart platform with 6 degrees of freedom. An important feature considered in the paper pneumatic actuator is the use of a group of valves rather than a spool valve to control the pressure in the chambers, which leads to a significant quantization in terms of the level of the control action. In addition, there is a sampling in time in the control loop. The present work is aimed at ensuring the robustness of the pneumatic actuators for the Stewart platforms concerning their parameters and the effect of changing the load on the drive caused by the interdependence of the drives due to the movement of the platform. Two discrete-time (parametric, and signal-parametric) adaptive control algorithms, based on the concept of an implicit reference model with anti-windup correction are proposed. The simulation results are presented, demonstrating the efficiency of the signal-parametric algorithm.
关键词：robotic manipulator;Gough-Stewart platform;pneumatic actuator;fluid servodrive;adaptive control;passification;implicit reference model;time sampling