@inproceedings{be472051d0664d1fbffd57e31e8afddb,
title = "Modeling and active vibration control of six-DOF manipulator through μ-synthesis with parameter uncertainties",
abstract = "A new linear dynamic model of a six-spherical-prismatic-spherical (SPS) Stewart platform with the base excitation was formulated via Kane's method. In order to satisfy the practical situation, the uncertainties of mass center location, stiffness and damping were concerned. Then a robust μ-synthesis controller was developed by applying D-K iteration to attenuate the base excitation. Comparisons were conducted by analyzing the responses of the open and closed loops in the frequency and time domain. Simulation results indicated that the proposed robust controller is of fine properties and good robustness, which laid a sound foundation of active micro-vibration control of a satellite.",
keywords = "?-synthesis, Kane's method, Micro-vibration, Parameter uncertainties, Stewart platform",
author = "Kaiping Yu and Ying Wu",
note = "Publisher Copyright: {\textcopyright} 2015 SPIE.; 9th International Symposium on Precision Engineering Measurements and Instrumentation, ISPEMI 2014 ; Conference date: 08-08-2014 Through 10-08-2014",
year = "2015",
doi = "10.1117/12.2180664",
language = "英语",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Xianfang Wen and Jiubin Tan",
booktitle = "Ninth International Symposium on Precision Engineering Measurements and Instrumentation",
address = "美国",
}