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| Saturating PD control approach with terminal convergence capability for Stewart platform |
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ZHAO Dong ya1, ZOU Tao2, WANG Zhi ping3, HE Xiong xiong2
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(1.College of Electromechanical Engineering in China University of Petroleum, Dongying 257061, China;2.College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China;3.SINOPEC Luoyang Branch, Luoyang 471000, China)
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| Abstract: |
| A new saturating PD plus gravity compensation control approach with terminal convergence capability for Stewart platform was presented using decimal fraction power of tracking error. In light of LaShalle 's invariance principle, the system stability was analyzed. The effectiveness of the approach was demonstrated by numerical simulation. The results show that the method can achieve asymptotic stability in the presence of controller output saturation. The proposed approach has faster convergence speed than conventional saturating PD plus gravity compensation control algorithm. |
| Key words: saturating control PD control robot control Stewart platform parallel robot numerical methods |
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