Model-based control of a 6-dof electrohydraulic Stewart-Gough platform (Q947216)

Starting from the general equations of motion of a platform and from mechanical and hydraulic equations of hydraulic servoactuators and serovalves, the authors propose some general control schemes. One of them (called operational error joint feedback) is used to develop a new model-based controller for six-degree-of-freedom electrohydraulic platforms. The simulation results show that the error converges asymptotically to zero, independent of applied loads.