电动Stewart平台分散子系统不确定性加权函数选择-控制理论与应用.PDFVIP

26 4 Vol. 26 No. 4 2009 4 Control Theory Applications Apr. 2009 :2009 Stewart , , (1. , 150080; 2. , 300300) : Stewart, . , , 3 . , . , . , , , . : Stewart; ; ; : TP273 : A Selection of uncertainty weighting function for decentralized subsystems of an electrical Stewart platform FU Shao-wen , YAO Yu , HAN Lei (1. Control and Simulation Center, Harbin Institute of Technology, Harbin Heilongjiang 150080, China; 2. College of Aeronautic Automation, Civil Aviation University of China, Tianjin 300300, China) Abstract: To reduce the conservation in describing the uncertainty in the double input/ double output (DIDO) subsys- tems of an electrical Stewart platform, we propose a method for selecting the weighting function. First, the structured uncertainty at low and middle frequencies is described in a feedback format based on the model analysis, and a weighting function of 3 undetermined parameters is obtained. Secondly, a criterion is proposed for matching the output with the experiment data; this criterion is then used for optimizing the parameters in the weighting function. Finally, the system uncertainty is transformed into a uniform expression for control design. Since the deterministic part of the system has been separated as far as possible, and the parameters of the weighting function have been optimized with using experiment data, the proposed method for uncertainty description has been rendered less conservative. Key words: Stewart platform; model uncertainty; weight