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Descripción
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| This paper deals with the robust adaptive control of the Stewart-Gough platform based on the task space dynamic equations. These equations were obtained using the virtual work approach, and include all the thirteen bodies presented in the platform, i.e. two bodies per each leg and the upper ring. The performance of the robust adaptive control law is evaluated using a sinusoidal path for position and orientation of the upper ring. Simulation were carried out to show the performance of the controller. | |
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Internacional
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Si |
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Nombre congreso
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2010 AMERICAN CONTROL CONFERENCE |
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Tipo de participación
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960 |
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Lugar del congreso
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2010 Baltimore MD |
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Revisores
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Si |
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ISBN o ISSN
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0743-1619 |
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DOI
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Fecha inicio congreso
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30/06/2010 |
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Fecha fin congreso
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02/07/2010 |
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Desde la página
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5248 |
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Hasta la página
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5253 |
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Título de las actas
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Proceedings of the American Control Conference |