Karmjit Singh Grewal, Roger Dixon and John Pearson. LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform. International Journal of Automation and Computing, vol. 9, no. 1, pp. 45-53, 2012. DOI: 10.1007/s11633-012-0615-7
Citation: Karmjit Singh Grewal, Roger Dixon and John Pearson. LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform. International Journal of Automation and Computing, vol. 9, no. 1, pp. 45-53, 2012. DOI: 10.1007/s11633-012-0615-7

LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform

  • This paper is concerned with the practical application control of a pneumatically actuated Stewart-Gough platform with 6-degrees of freedom (6-DOF). The control approach for motion control of the platform is presented using a modern control technique, namely, linear quadratic Gaussinn (LQG) with reference tracking. The LQG controller is the combination of a Kalman filter, i.e., a linear-quadratic estimator (LQE) with a linear-quadratic regulator (LQR). The robustness of the control scheme is accessed under various load conditions, and the experimental results are shown.
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