LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform

摘要

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.