Signal-parametric discrete-time adaptive controller for pneumatically actuated Stewart platform

Abstract

The paper is devoted to the adaptive control of pneumatic drives for the Stewart platform with six degrees of freedom. Based on the approach known as the method of the implicit reference model, the synthesis of parametric and signal-parametric adaptive controllers is carried out. The use of both a group of pneumatic valves and a spool valve in the control system is considered. The effect of quantization on the level of the control process when using pneumatic valves is studied. In addition, the discretization of the control process and the effect of load changes on the pneumatic drive are considered. The results of comparative simulations are presented, demonstrating the system's robustness to the plant parameters and the efficacy of the proposed signal-parametric adaptive controller.