期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 11, 期 2, 页码 267-272出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2003.809248
关键词
adaptive control; disturbance rejection; fault tolerance; hexapod; phase-locked loop (PLL); pointing; Stewart platform
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据