Optimal H Infinity Controller Applied to a Stewart Platform

In recent years there has been great interest in studying parallel manipulators, mainly applied in flight simulators, with six degrees of freedom. The interest in parallel kinematic structures is motivated by its high stiffness and excellent positioning capability in relation to serial kinematic structures. This work presents the kinematic and dynamic modeling, design, development and identification of the parameters of motion platform with six degrees of freedom, electrically powered, for studies of flight simulators, is known as a Stewart Platform. It also presents the design of an H infinity controller with output feedback. The actuator model was obtained by a step voltage input to the engines and measuring its displacement by the encoders coupled, in each of the respective axes of the motors. Knowing the relation of motion transmission mechanism between the motor shaft and each actuator is obtained by the displacement rod from the rotation of motor which are measured by the corresponding encoder. The kinematics and dynamics platform's data compose the whole systems models simulations that are applied in the Stewart platform to validate the model and show the effectiveness of control techniques in which was applied to control the position and orientation of the platform were performed. An inertial sensor Xsens MTi-G measurement of the Euler angles of the platform was performed. The result obtained by the controller was satisfactory and illustrate the performance and robustness of the proposed methodology.