한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제9권4호
  • /
  • Pages.166-175
  • /
  • 2001
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  • 1225-6382(pISSN)
  • /
  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지

개선된 슬라이딩 모드제어기를 이용한 스튜워트플렛폼의 추종제어

Tracking Control of Stewart Platform Manipulator via Enhanced Sliding Mode Control

  • 김낙인 (대우종합기계 중앙연구소) ;
  • 이종원 (한국과학기술원 기계공학과)
  • 발행 : 2001.07.01
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초록

The high speed tracking control of a 6-6 Stewart platform manipulator (SPM) normally requires knowledge of its complex full dynamics and measurement of its base motion when the SPM operates on a motion nit. In this study, an enhanced sliding mode control scheme has been developed, which is based on the reduced dynamics, not necessitating measurement of the base motion. The enhanced sliding mode control implemented with the perturbation compensation and modified reaching phase alleviation functions has been successfully employed for high speed tacking control of the laboratory SPM, when it is subjected to a virtual base motion.

키워드

참고문헌

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