Stewart平台的鲁棒变结构运动控制研究

Study on the Motion Control of Stewart Platform Based on Robust Variable Structure Scheme

本文针对Stewart平台系统的参数不确定性,将变结构理论应用于Stewart平台运动控制。采用Lyapunov直接法进行控制律选取,以确保系统实现全局渐近稳定。通过采用动态饱和函数方法,消减变结构控制中的控制输出抖振。仿真结果表明,在系统存在有界的不确定参数和随机干扰时,可以获得满意的鲁棒性和精确性。

Variable structure scheme is used on the motion control of Stewart platform with focus on the uncertain parameters of Stewart platform. To ensure the global stability of systems, the control law is chose based on Lyapunov direct method. Dynamic saturation function is used to reduce the control chattering. The simulation results show that satisfactory robustness and accuracy can be acquired with bounded uncertain parameters and random disturbances existing in the system.