Name
Title | ||
|---|---|---|
Adaptive sinusoidal disturbance cancellation for precise pointing of stewart platforms |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/TCST.2003.809248 | IEEE Trans. Contr. Sys. Techn. |
Keywords | Field | DocType |
Frequency,Phase locked loops,Actuators,Fault tolerance,Payloads,Fault tolerant systems,Design methodology,Remote sensing,Vibration control,Satellites | Phase-locked loop,Control theory,Vibration isolation,Control engineering,Fault tolerance,Adaptive control,Stewart platform,Robot,Monotone polygon,Mathematics,Actuator | Journal |
Volume | Issue | ISSN |
11 | 2 | 1063-6536 |
Citations | PageRank | References |
5 | 0.61 | 6 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Haomin Lin | 1 | 19 | 4.08 |
| J. E. McInroy | 2 | 83 | 7.14 |