Robust generalized predictive control of Stewart-Gough platform

摘要

This paper addresses the position tracking control application of a Stewart-Gough platform using robust generalized predictive control. The robustification of GPC against measurement noise using Youla parameterization is performed. The simulation of the complete model of the Stewart-Gough platform is performed on a circular trajectory. The robustified GPC controller is compared with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance reducing the effect of the noise in the control signal of the Stewart-Gough Platform.