From 2a5c629df72e0259c19216375662a65446902cb6 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Fri, 13 Mar 2020 10:35:21 +0100 Subject: [PATCH] Rework the control files --- ...mping.html => control-active-damping.html} | 175 ++++----- ....html => control-vibration-isolation.html} | 345 ++++++++---------- docs/index.html | 63 ++-- ...damping.org => control-active-damping.org} | 0 ...dy.org => control-vibration-isolation.org} | 0 org/index.org | 30 +- 6 files changed, 310 insertions(+), 303 deletions(-) rename docs/{active-damping.html => control-active-damping.html} (88%) rename docs/{control-study.html => control-vibration-isolation.html} (86%) rename org/{active-damping.org => control-active-damping.org} (100%) rename org/{control-study.org => control-vibration-isolation.org} (100%) diff --git a/docs/active-damping.html b/docs/control-active-damping.html similarity index 88% rename from docs/active-damping.html rename to docs/control-active-damping.html index b5d9a85..c5774dd 100644 --- a/docs/active-damping.html +++ b/docs/control-active-damping.html @@ -1,10 +1,11 @@ + - + Stewart Platform - Decentralized Active Damping @@ -246,35 +247,35 @@

Table of Contents

@@ -285,16 +286,16 @@ The following decentralized active damping techniques are briefly studied:

-
-

1 Inertial Control

+
+

1 Inertial Control

- +

@@ -309,8 +310,8 @@ To run the script, open the Simulink Project, and type run active_damping_
-
-

1.1 Identification of the Dynamics

+
+

1.1 Identification of the Dynamics

stewart = initializeStewartPlatform();
@@ -355,10 +356,10 @@ G.OutputName = {'Vm1',

-The transfer function from actuator forces to force sensors is shown in Figure 1. +The transfer function from actuator forces to force sensors is shown in Figure 1.

-
+

inertial_plant_coupling.png

Figure 1: Transfer function from the Actuator force \(F_{i}\) to the absolute velocity of the same leg \(v_{m,i}\) and to the absolute velocity of the other legs \(v_{m,j}\) with \(i \neq j\) in grey (png, pdf)

@@ -366,8 +367,8 @@ The transfer function from actuator forces to force sensors is shown in Figure <
-
-

1.2 Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics

+
+

1.2 Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics

We add some stiffness and damping in the flexible joints and we re-identify the dynamics. @@ -392,10 +393,10 @@ Ga.OutputName = {'Vm1',

-The new dynamics from force actuator to force sensor is shown in Figure 2. +The new dynamics from force actuator to force sensor is shown in Figure 2.

-
+

inertial_plant_flexible_joint_decentralized.png

Figure 2: Transfer function from the Actuator force \(F_{i}\) to the absolute velocity sensor \(v_{m,i}\) (png, pdf)

@@ -403,8 +404,8 @@ The new dynamics from force actuator to force sensor is shown in Figure
-
-

1.3 Obtained Damping

+
+

1.3 Obtained Damping

The control is a performed in a decentralized manner. @@ -418,10 +419,10 @@ The \(6 \times 6\) control is a diagonal matrix with pure proportional action on

-The root locus is shown in figure 3. +The root locus is shown in figure 3.

-
+

root_locus_inertial_rot_stiffness.png

Figure 3: Root Locus plot with Decentralized Inertial Control when considering the stiffness of flexible joints (png, pdf)

@@ -429,8 +430,8 @@ The root locus is shown in figure 3.
-
-

1.4 Conclusion

+
+

1.4 Conclusion

@@ -442,11 +443,11 @@ We do not have guaranteed stability with Inertial control. This is because of th

-
-

2 Integral Force Feedback

+
+

2 Integral Force Feedback

- +

@@ -461,8 +462,8 @@ To run the script, open the Simulink Project, and type run active_damping_
-
-

2.1 Identification of the Dynamics with perfect Joints

+
+

2.1 Identification of the Dynamics with perfect Joints

We first initialize the Stewart platform without joint stiffness. @@ -509,10 +510,10 @@ G.OutputName = {'Fm1',

-The transfer function from actuator forces to force sensors is shown in Figure 4. +The transfer function from actuator forces to force sensors is shown in Figure 4.

-
+

iff_plant_coupling.png

Figure 4: Transfer function from the Actuator force \(F_{i}\) to the Force sensor of the same leg \(F_{m,i}\) and to the force sensor of the other legs \(F_{m,j}\) with \(i \neq j\) in grey (png, pdf)

@@ -520,8 +521,8 @@ The transfer function from actuator forces to force sensors is shown in Figure <
-
-

2.2 Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics

+
+

2.2 Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics

We add some stiffness and damping in the flexible joints and we re-identify the dynamics. @@ -546,10 +547,10 @@ Ga.OutputName = {'Fm1',

-The new dynamics from force actuator to force sensor is shown in Figure 5. +The new dynamics from force actuator to force sensor is shown in Figure 5.

-
+

iff_plant_flexible_joint_decentralized.png

Figure 5: Transfer function from the Actuator force \(F_{i}\) to the force sensor \(F_{m,i}\) (png, pdf)

@@ -557,8 +558,8 @@ The new dynamics from force actuator to force sensor is shown in Figure
-
-

2.3 Obtained Damping

+
+

2.3 Obtained Damping

The control is a performed in a decentralized manner. @@ -572,17 +573,17 @@ The \(6 \times 6\) control is a diagonal matrix with pure integration action on

-The root locus is shown in figure 6 and the obtained pole damping function of the control gain is shown in figure 7. +The root locus is shown in figure 6 and the obtained pole damping function of the control gain is shown in figure 7.

-
+

root_locus_iff_rot_stiffness.png

Figure 6: Root Locus plot with Decentralized Integral Force Feedback when considering the stiffness of flexible joints (png, pdf)

-
+

pole_damping_gain_iff_rot_stiffness.png

Figure 7: Damping of the poles with respect to the gain of the Decentralized Integral Force Feedback when considering the stiffness of flexible joints (png, pdf)

@@ -590,8 +591,8 @@ The root locus is shown in figure 6 and the obtained p
-
-

2.4 Conclusion

+
+

2.4 Conclusion

@@ -604,11 +605,11 @@ Thus, if Integral Force Feedback is to be used in a Stewart platform with flexib

-
-

3 Direct Velocity Feedback

+
+

3 Direct Velocity Feedback

- +

@@ -623,8 +624,8 @@ To run the script, open the Simulink Project, and type run active_damping_
-
-

3.1 Identification of the Dynamics with perfect Joints

+
+

3.1 Identification of the Dynamics with perfect Joints

We first initialize the Stewart platform without joint stiffness. @@ -675,10 +676,10 @@ G.OutputName = {'Dm1',

-The transfer function from actuator forces to relative motion sensors is shown in Figure 8. +The transfer function from actuator forces to relative motion sensors is shown in Figure 8.

-
+

dvf_plant_coupling.png

Figure 8: Transfer function from the Actuator force \(F_{i}\) to the Relative Motion Sensor \(D_{m,j}\) with \(i \neq j\) (png, pdf)

@@ -687,8 +688,8 @@ The transfer function from actuator forces to relative motion sensors is shown i
-
-

3.2 Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics

+
+

3.2 Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics

We add some stiffness and damping in the flexible joints and we re-identify the dynamics. @@ -713,10 +714,10 @@ Ga.OutputName = {'Dm1',

-The new dynamics from force actuator to relative motion sensor is shown in Figure 9. +The new dynamics from force actuator to relative motion sensor is shown in Figure 9.

-
+

dvf_plant_flexible_joint_decentralized.png

Figure 9: Transfer function from the Actuator force \(F_{i}\) to the relative displacement sensor \(D_{m,i}\) (png, pdf)

@@ -724,8 +725,8 @@ The new dynamics from force actuator to relative motion sensor is shown in Figur
-
-

3.3 Obtained Damping

+
+

3.3 Obtained Damping

The control is a performed in a decentralized manner. @@ -739,10 +740,10 @@ The \(6 \times 6\) control is a diagonal matrix with pure derivative action on t

-The root locus is shown in figure 10. +The root locus is shown in figure 10.

-
+

root_locus_dvf_rot_stiffness.png

Figure 10: Root Locus plot with Direct Velocity Feedback when considering the Stiffness of flexible joints (png, pdf)

@@ -750,8 +751,8 @@ The root locus is shown in figure 10.
-
-

3.4 Conclusion

+
+

3.4 Conclusion

@@ -763,12 +764,12 @@ Joint stiffness does increase the resonance frequencies of the system but does n

-
-

4 Compliance and Transmissibility Comparison

+
+

4 Compliance and Transmissibility Comparison

-
-

4.1 Initialization

+
+

4.1 Initialization

We first initialize the Stewart platform without joint stiffness. @@ -800,8 +801,8 @@ controller = initializeController('type',

-
-

4.2 Identification

+
+

4.2 Identification

Let’s first identify the transmissibility and compliance in the open-loop case. @@ -839,25 +840,25 @@ K_dvf = 1e4*s/(1

-
-

4.3 Results

+
+

4.3 Results

-
+

transmissibility_iff_dvf.png

Figure 11: Obtained transmissibility for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (png, pdf)

-
+

compliance_iff_dvf.png

Figure 12: Obtained compliance for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (png, pdf)

-
+

frobenius_norm_T_C_iff_dvf.png

Figure 13: Frobenius norm of the Transmissibility and Compliance Matrices (png, pdf)

@@ -868,7 +869,7 @@ K_dvf = 1e4*s/(1

Author: Dehaeze Thomas

-

Created: 2020-03-12 jeu. 18:06

+

Created: 2020-03-13 ven. 10:34

diff --git a/docs/control-study.html b/docs/control-vibration-isolation.html similarity index 86% rename from docs/control-study.html rename to docs/control-vibration-isolation.html index 7e8c10f..653ddf7 100644 --- a/docs/control-study.html +++ b/docs/control-vibration-isolation.html @@ -1,10 +1,11 @@ + - + Stewart Platform - Vibration Isolation @@ -246,79 +247,79 @@

Table of Contents

-

-Control architectures can be divided in different ways. -

- -

-It can depend on the sensor used: -

-
    -
  • Sensors located in each strut: relative motion, force sensor, inertial sensor
    • -
  • Sensors measuring the relative motion between the fixed base and the mobile platform
    • -
  • Inertial sensors located on the mobile platform
    • -
- -

-It can also depends on the control objective: -

-
    -
  • Reference Tracking
    • -
  • Active Damping
    • -
  • Vibration Isolation
    • -
- -
-

1 HAC-LAC (Cascade) Control - Integral Control

+
+

1 HAC-LAC (Cascade) Control - Integral Control

-
-

1.1 Introduction

+
+

1.1 Introduction

In this section, we wish to study the use of the High Authority Control - Low Authority Control (HAC-LAC) architecture on the Stewart platform.

-The control architectures are shown in Figures 1 and 2. +The control architectures are shown in Figures 1 and 2.

@@ -369,7 +348,7 @@ First, the LAC loop is closed (the LAC control is described +

control_arch_hac_iff.png

Figure 1: HAC-LAC architecture with IFF

@@ -377,7 +356,7 @@ First, the LAC loop is closed (the LAC control is described +

control_arch_hac_dvf.png

Figure 2: HAC-LAC architecture with DVF

@@ -385,8 +364,8 @@ First, the LAC loop is closed (the LAC control is described -

1.2 Initialization

+
+

1.2 Initialization

We first initialize the Stewart platform. @@ -417,8 +396,8 @@ payload = initializePayload('type',

-
-

1.3 Identification

+
+

1.3 Identification

We identify the transfer function from the actuator forces \(\bm{\tau}\) to the absolute displacement of the mobile platform \(\bm{\mathcal{X}}\) in three different cases: @@ -430,8 +409,8 @@ We identify the transfer function from the actuator forces \(\bm{\tau}\) to the

-
-

1.3.1 HAC - Without LAC

+
+

1.3.1 HAC - Without LAC

controller = initializeController('type', 'open-loop');
@@ -456,8 +435,8 @@ G_ol.OutputName = {'Dx', 
-
1.3.2 HAC - IFF

+

+
1.3.2 HAC - IFF

 

 

 
controller = initializeController('type', 'iff');
@@ -483,8 +462,8 @@ G_iff.OutputName = {'Dx', 
-
1.3.3 HAC - DVF

+

+
1.3.3 HAC - DVF

 

 

 
controller = initializeController('type', 'dvf');
@@ -511,8 +490,8 @@ G_dvf.OutputName = {'Dx', 
-
1.4 Control Architecture

+

+
1.4 Control Architecture

 

 

 We use the Jacobian to express the actuator forces in the cartesian frame, and thus we obtain the transfer functions from \(\bm{\mathcal{F}}\) to \(\bm{\mathcal{X}}\).
@@ -536,11 +515,11 @@ We then design a controller based on the transfer functions from \(\bm{\mathcal{
 

 

 
-

-
1.5 6x6 Plant Comparison

+

+
1.5 6x6 Plant Comparison

 

 
-

+

 
hac_lac_coupling_jacobian.png
 

 
Figure 3: Norm of the transfer functions from \(\bm{\mathcal{F}}\) to \(\bm{\mathcal{X}}\) (png, pdf)

@@ -548,15 +527,15 @@ We then design a controller based on the transfer functions from \(\bm{\mathcal{
 

 

 
-

-
1.6 HAC - DVF

+

+
1.6 HAC - DVF

 

 

-

-
1.6.1 Plant

+

+
1.6.1 Plant

 

 
-

+

 
hac_lac_plant_dvf.png
 

 
Figure 4: Diagonal elements of the plant for HAC control when DVF is previously applied (png, pdf)

@@ -564,8 +543,8 @@ We then design a controller based on the transfer functions from \(\bm{\mathcal{
 

 

 
-

-
1.6.2 Controller Design

+

+
1.6.2 Controller Design

 

 

 We design a diagonal controller with equal bandwidth for the 6 terms.
@@ -583,7 +562,7 @@ Kd_dvf = diag(1./abs(diag(freqresp(1
+

 
hac_lac_loop_gain_dvf.png
 

 
Figure 5: Diagonal elements of the Loop Gain for the HAC control (png, pdf)

@@ -600,8 +579,8 @@ Finally, we pre-multiply the diagonal controller by \(\bm{J}^{-T}\) prior implem
 

 

 
-

-
1.6.3 Obtained Performance

+

+
1.6.3 Obtained Performance

 

 

 We identify the transmissibility and compliance of the system.
@@ -629,7 +608,7 @@ We identify the transmissibility and compliance of the system.
 

 
 
-

+

 
hac_lac_C_T_dvf.png
 

 
Figure 6: Obtained Compliance and Transmissibility (png, pdf)

@@ -638,15 +617,15 @@ We identify the transmissibility and compliance of the system.
 

 

 
-

-
1.7 HAC - IFF

+

+
1.7 HAC - IFF

 

 

-

-
1.7.1 Plant

+

+
1.7.1 Plant

 

 
-

+

 
hac_lac_plant_iff.png
 

 
Figure 7: Diagonal elements of the plant for HAC control when IFF is previously applied (png, pdf)

@@ -654,8 +633,8 @@ We identify the transmissibility and compliance of the system.
 

 

 
-

-
1.7.2 Controller Design

+

+
1.7.2 Controller Design

 

 

 We design a diagonal controller with equal bandwidth for the 6 terms.
@@ -673,7 +652,7 @@ Kd_iff = diag(1./abs(diag(freqresp(1
+

 
hac_lac_loop_gain_iff.png
 

 
Figure 8: Diagonal elements of the Loop Gain for the HAC control (png, pdf)

@@ -690,8 +669,8 @@ Finally, we pre-multiply the diagonal controller by \(\bm{J}^{-T}\) prior implem
 

 

 
-

-
1.7.3 Obtained Performance

+

+
1.7.3 Obtained Performance

 

 

 We identify the transmissibility and compliance of the system.
@@ -719,7 +698,7 @@ We identify the transmissibility and compliance of the system.
 

 
 
-

+

 
hac_lac_C_T_iff.png
 

 
Figure 9: Obtained Compliance and Transmissibility (png, pdf)

@@ -728,25 +707,25 @@ We identify the transmissibility and compliance of the system.
 

 

 
-

-
1.8 Comparison

+

+
1.8 Comparison

 

 
-

+

 
hac_lac_C_full_comparison.png
 

 
Figure 10: Comparison of the norm of the Compliance matrices for the HAC-LAC architecture (png, pdf)

 

 
 
-

+

 
hac_lac_T_full_comparison.png
 

 
Figure 11: Comparison of the norm of the Transmissibility matrices for the HAC-LAC architecture (png, pdf)

 

 
 
-

+

 
hac_lac_C_T_comparison.png
 

 
Figure 12: Comparison of the Frobenius norm of the Compliance and Transmissibility for the HAC-LAC architecture with both IFF and DVF (png, pdf)

@@ -755,21 +734,21 @@ We identify the transmissibility and compliance of the system.
 

 

 
-

-
2 MIMO Analysis

+

+
2 MIMO Analysis

 

 

-Let’s define the system as shown in figure 13.
+Let’s define the system as shown in figure 13.
 

 
 
-

+

 
general_control_names.png
 

 
Figure 13: General Control Architecture

 

 
-
+
@@ -847,8 +826,8 @@ Let’s define the system as shown in figure 13.
 

 Table 1: Signals definition for the generalized plant
 
 


 

 
-

-
2.1 Initialization

+

+
2.1 Initialization

 

 

 We first initialize the Stewart platform.
@@ -879,12 +858,12 @@ payload = initializePayload('type', 
 

 
-

-
2.2 Identification

+

+
2.2 Identification

 

 

-

-
2.2.1 HAC - Without LAC

+

+
2.2.1 HAC - Without LAC

 

 

 
controller = initializeController('type', 'open-loop');
@@ -909,8 +888,8 @@ G_ol.OutputName = {'Dx', 
-
2.2.2 HAC - DVF

+

+
2.2.2 HAC - DVF

 

 

 
controller = initializeController('type', 'dvf');
@@ -936,8 +915,8 @@ G_dvf.OutputName = {'Dx', 
-
2.2.3 Cartesian Frame

+

+
2.2.3 Cartesian Frame

 

 

 
Gc_ol = minreal(G_ol)/stewart.kinematics.J';
@@ -951,8 +930,8 @@ Gc_dvf.InputName = {'Fx', 
-
2.3 Singular Value Decomposition

+

+
2.3 Singular Value Decomposition

 

 

 
freqs = logspace(1, 4, 1000);
@@ -982,8 +961,8 @@ V_dvf = zeros(6,6,length(freqs));
 

 

 
-

-
3 Diagonal Control based on the damped plant

+

+
3 Diagonal Control based on the damped plant

 

 

 From skogestad07_multiv_feedb_contr, a simple approach to multivariable control is the following two-step procedure:
@@ -1008,8 +987,8 @@ There are mainly three different cases:
 
 

 
-

-
3.1 Initialization

+

+
3.1 Initialization

 

 

 We first initialize the Stewart platform.
@@ -1040,8 +1019,8 @@ payload = initializePayload('type', 
 

 
-

-
3.2 Identification

+

+
3.2 Identification

 

 

 
controller = initializeController('type', 'dvf');
@@ -1067,12 +1046,12 @@ G_dvf.OutputName = {'Dx', 
-
3.3 Steady State Decoupling

+

+
3.3 Steady State Decoupling

 

 

-

-
3.3.1 Pre-Compensator Design

+

+
3.3.1 Pre-Compensator Design

 

 

 We choose \(W_1 = G^{-1}(0)\).
@@ -1102,18 +1081,18 @@ In the case of the Stewart platform, the pre-compensator for static decoupling i
 \end{align*}
 
 

-The static decoupled plant is schematic shown in Figure 14 and the bode plots of its diagonal elements are shown in Figure 15.
+The static decoupled plant is schematic shown in Figure 14 and the bode plots of its diagonal elements are shown in Figure 15.
 

 
 
-

+

 
control_arch_static_decoupling.png
 

 
Figure 14: Static Decoupling of the Stewart platform

 

 
 
-

+

 
static_decoupling_diagonal_plant.png
 

 
Figure 15: Bode plot of the diagonal elements of \(G_s(s)\) (png, pdf)

@@ -1121,8 +1100,8 @@ The static decoupled plant is schematic shown in Figure 14
 

 

 
-

-
3.3.2 Diagonal Control Design

+

+
3.3.2 Diagonal Control Design

 

 

 We design a diagonal controller \(K_s(s)\) that consist of a pure integrator and a lead around the crossover.
@@ -1139,7 +1118,7 @@ Ks_dvf = diag(1./abs(diag(freqresp(116.
+The overall controller is then \(K(s) = W_1 K_s(s)\) as shown in Figure 16.
 

 
 

@@ -1148,7 +1127,7 @@ The overall controller is then \(K(s) = W_1 K_s(s)\) as shown in Figure 
 
 
-

+
 
-

-
3.3.3 Results

+

+
3.3.3 Results

 

 

 We identify the transmissibility and compliance of the Stewart platform under open-loop and closed-loop control.
@@ -1182,7 +1161,7 @@ The results are shown in figure
 

 
 
-

+

 
static_decoupling_C_T_frobenius_norm.png
 

 
Figure 17: Frobenius norm of the Compliance and transmissibility matrices (png, pdf)

@@ -1191,8 +1170,8 @@ The results are shown in figure
 

 

 
-

-
3.4 Decoupling at Crossover

+

+
3.4 Decoupling at Crossover

 

 
    
 
  • [ ] Find a method for real approximation of a complex matrix
    • 
@@ -1201,12 +1180,12 @@ The results are shown in figure
 

 

 
-

-
4 Time Domain Simulation

+

+
4 Time Domain Simulation

 

 

-

-
4.1 Initialization

+

+
4.1 Initialization

 

 

 We first initialize the Stewart platform.
@@ -1242,8 +1221,8 @@ payload = initializePayload('type', 
 

 
-

-
4.2 HAC IFF

+

+
4.2 HAC IFF

 

 

 
controller = initializeController('type', 'iff');
@@ -1285,8 +1264,8 @@ K_hac_iff = inv(stewart.kinematics.J')
 

 
-

-
4.3 HAC-DVF

+

+
4.3 HAC-DVF

 

 

 
controller = initializeController('type', 'dvf');
@@ -1329,8 +1308,8 @@ K_hac_dvf = inv(stewart.kinematics.J')
 

 
-

-
4.4 Results

+

+
4.4 Results

 

 

 
figure;
@@ -1358,21 +1337,21 @@ ylabel('Orientation error [rad]');
 

 

 
-

-
5 Functions

+

+
5 Functions

 

 

-

-
5.1 initializeController: Initialize the Controller

+

+
5.1 initializeController: Initialize the Controller

 

 

-
+
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [controller] = initializeController(args)
 % initializeController - Initialize the Controller
@@ -1386,9 +1365,9 @@ ylabel('Orientation error [rad]');
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
   args.type   char   {mustBeMember(args.type, {'open-loop', 'iff', 'dvf', 'hac-iff', 'hac-dvf', 'ref-track-L', 'ref-track-X', 'ref-track-hac-dvf'})} = 'open-loop'
@@ -1398,9 +1377,9 @@ ylabel('Orientation error [rad]');
 

 

 
-

-
Structure initialization

-

+

+
Structure initialization

+

 

 
controller = struct();
 

@@ -1408,9 +1387,9 @@ ylabel('Orientation error [rad]');
 

 

 
-

-
Add Type

-

+

+
Add Type

+

 

 
switch args.type
   case 'open-loop'
@@ -1439,7 +1418,7 @@ ylabel('Orientation error [rad]');
 

 

 
Author: Dehaeze Thomas

-
Created: 2020-03-12 jeu. 18:06

+
Created: 2020-03-13 ven. 10:34

 

 
 
diff --git a/docs/index.html b/docs/index.html
index c1c9c3b..c157c78 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -4,7 +4,7 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 
 
-
+
 
 
 Stewart Platforms
@@ -241,10 +241,9 @@
 
  • 3. Simscape Model of the Stewart Platform (link)
    • 
 
  • 4. Kinematic Analysis (link)
    • 
 
  • 5. Identification of the Stewart Dynamics (link)
    • 
-
  • 6. Active Damping (link)
    • 
-
  • 7. Motion Control of the Stewart Platform (link)
    • 
-
  • 8. Cubic Configuration (link)
    • 
-
  • 9. Bibliography (link)
    • 
+
  • 6. Control
    • 
+
  • 7. Cubic Configuration (link)
    • 
+
  • 8. Bibliography (link)
    • 
 
 
    
 
    
@@ -349,37 +348,53 @@ The code that is used for identification is explained 
-
    6 Active Damping (link)
    
+
    
+
    6 Control
    
 
    
 
    
-The use of different sensors are compared for active damping:
+The use of active control for Stewart platforms is a wide subject.
+Many aspect can be studied.
+
    
+
+
    
+The sensors used is of primary important. We can have:
 
    
 
      
-
    • Inertial Sensor in each strut
      • 
-
    • Inertial Sensor fixed to the mobile platform
      • 
-
    • Force Sensor in each strut
      • 
-
    • Relative Motion Sensor in each strut
      • 
+
    • Sensors located in each strut: relative motion, force sensor, inertial sensor
      • 
+
    • Sensors measuring the relative motion between the fixed base and the mobile platform
      • 
+
    • Inertial sensors located on the mobile platform
      • 
 
    
 
 
    
-The result of the analysis is accessible here.
+The control objective can also vary:
 
    
-
    
-
    
+
      
+
    • Reference Tracking
      • 
+
    • Active Damping
      • 
+
    • Vibration Isolation
      • 
+
    
 
-
    
-
    7 Motion Control of the Stewart Platform (link)
    
-
    
 
    
-Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in this document.
+The Control for Stewart platforms is here studied in the following files:
 
    
+
      
+
    • Active Damping (link).
+The use of different sensors are compared for active damping:
+
        
+
      • Inertial Sensor in each strut or fixed to the mobile platform
        • 
+
      • Force Sensor in each strut
        • 
+
      • Relative Motion Sensor in each strut
        • 
+
      • 
+
    • Motion Control (link).
+Different control architectures (centralized and decentralized) are compared for the position control of the Stewart platform.
      • 
+
    • Vibration Isolation (link)
      • 
+
    
 
    
 
    
 
 
    
-
    8 Cubic Configuration (link)
    
-
    
+
    7 Cubic Configuration (link)
    
+
    
 
    
 The cubic configuration is a special class of Stewart platform that has interesting properties.
 
    
@@ -391,8 +406,8 @@ These properties are studied in this docu
 
    
 
 
    
-
    9 Bibliography (link)
    
-
    
+
    8 Bibliography (link)
    
+
    
 
    
 Many text books, PhD thesis and articles related to parallel robots and Stewart platforms are gathered in this document.
 
    
@@ -401,7 +416,7 @@ Many text books, PhD thesis and articles related to parallel robots and Stewart
 
    
 
    
 
    Author: Dehaeze Thomas
    
-
    Created: 2020-03-03 mar. 16:04
    
+
    Created: 2020-03-13 ven. 10:34
    
 
    
 
 
diff --git a/org/active-damping.org b/org/control-active-damping.org
similarity index 100%
rename from org/active-damping.org
rename to org/control-active-damping.org
diff --git a/org/control-study.org b/org/control-vibration-isolation.org
similarity index 100%
rename from org/control-study.org
rename to org/control-vibration-isolation.org
diff --git a/org/index.org b/org/index.org
index ffd3cf0..0b3e808 100644
--- a/org/index.org
+++ b/org/index.org
@@ -63,17 +63,29 @@ It is possible to:
 
 The code that is used for identification is explained [[file:identification.org][here]].
  
-* Active Damping ([[file:active-damping.org][link]])
-The use of different sensors are compared for active damping:
-- Inertial Sensor in each strut
-- Inertial Sensor fixed to the mobile platform
-- Force Sensor in each strut
-- Relative Motion Sensor in each strut
+* Control
+The use of active control for Stewart platforms is a wide subject.
+Many aspect can be studied.
 
-The result of the analysis is accessible [[file:active-damping.org][here]].
+The sensors used is of primary important. We can have:
+- Sensors located in each strut: relative motion, force sensor, inertial sensor
+- Sensors measuring the relative motion between the fixed base and the mobile platform
+- Inertial sensors located on the mobile platform
 
-* Motion Control of the Stewart Platform ([[file:control-study.org][link]])
-Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in [[file:control-study.org][this]] document.
+The control objective can also vary:
+- Reference Tracking
+- Active Damping
+- Vibration Isolation
+
+The Control for Stewart platforms is here studied in the following files:
+- *Active Damping* ([[file:control-active-damping.org][link]]).
+  The use of different sensors are compared for active damping:
+  - Inertial Sensor in each strut or fixed to the mobile platform
+  - Force Sensor in each strut
+  - Relative Motion Sensor in each strut
+- *Motion Control* ([[file:control-tracking.org][link]]).
+  Different control architectures (centralized and decentralized) are compared for the position control of the Stewart platform.
+- *Vibration Isolation* ([[file:control-vibration-isolation.org][link]])
 
 * Cubic Configuration ([[file:cubic-configuration.org][link]])
 The cubic configuration is a special class of Stewart platform that has interesting properties.