Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 11, Issue 2, Pages 267-272Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2003.809248
Keywords
adaptive control; disturbance rejection; fault tolerance; hexapod; phase-locked loop (PLL); pointing; Stewart platform
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This paper combines an adaptive sinusoidal disturbance cancellation scheme with fault tolerant pointing algorithms for Stewart platforms. This results in a fault-tolerant pointing system capable of low-frequency tracking, mid-frequency rejection of large monotone disturbances, and high-frequency passive vibration isolation: Since often the frequency of the monotone sinusoidal disturbance cannot be precisely known, a phase-locked loop (PLL) algorithm is used to catch the frequency and a method for PLL design is developed: Experimental results on the University of Wyoming Stewart platform demonstrate that pointing errors caused by a monotone disturbance decrease 50-fold even in the-presence of multiple actuator failures.
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