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LQG controller design applied to a pneumatic stewart-gough platform

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Abstract

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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Authors and Affiliations

  1. Control System Group, Department of Electronic and Electrical Engineering, Loughborough University, Loughborough, LE11 3TU, UK

    Karmjit Singh Grewal & Roger Dixon

  2. Systems Engineering Innovation Centre (SEIC), British Aerospace and Marconi Electronic Systems (BAE Systems), Loughborough, UK

    John Pearson

Authors
  1. Karmjit Singh Grewal
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  2. Roger Dixon
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  3. John Pearson
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Corresponding author

Correspondence to Karmjit Singh Grewal.

Additional information

Karmjit Singh Grewal received the Ph.D. degree in 2010 at Loughborough University and is currently a research associate in the Control Systems Group within the Department of Electronic and Electrical Engineering at Loughborough University, UK.

His research interests include modelbased fault tolerant control, automotive systems research, and Mechatronics systems.

Roger Dixon is senior lecturer in Control Systems Engineering and director of the Systems Engineering Doctorate Centre at Loughborough University, UK. He is a member of the Control Systems research group and fellow of the Higher Education Academy, a registered Chartered Engineer, and a member of the Institution of Mechanical Engineers.

His research interests include application of model-based control systems design, model-based fault detection and isolation, system condition/health monitoring, and fault tolerant design (of controllers and actuators).

John Pearson is group leader for the Applied Systems Engineering team working for British Aerospace and Marconi Electronic Systems (BAE Systems) at the Systems Engineering Innovation Centre. His career started with Westland Helicopters Limited (WHL) as a technologist engineer; following this, he was engaged upon a research contract for WHL based at Loughborough University specialising in adaptive algorithms for the active control of helicopter vibration.

His research interests include life systems health management, including the application of prognostic and diagnostic techniques to a variety of platforms, which include fast jet and unmanned air-vehicles.

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Grewal, K.S., Dixon, R. & Pearson, J. LQG controller design applied to a pneumatic stewart-gough platform. Int. J. Autom. Comput. 9, 45–53 (2012). https://doi.org/10.1007/s11633-012-0615-7

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  • DOI: https://doi.org/10.1007/s11633-012-0615-7

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