Position Control Of A Stewart Platform using Dynamic Matrix Control
This paper presents a Dynamic Matrix Controller (DMC) for six-degree-of-freedom (6-DOF) Stewart platform based on the parallel mechanism in order to track the reference trajectory in the mechanism workspace. Dynamic matrix control is a particular type of model predictive control (MPC), which are framed as advanced controllers. This controller is an industrial controller that is utilized based on the system step response coefficients. The DMC showed robust performance for different size of input signals, and prediction and control windows. This method is a generalization of pole placement methods and optimal control. In addition, this method showed good tracking performance and benefit when considering input or output constraints, which is often the case in real industrial systems.
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