Control of stewart platform- an adaptive filtering approach

Abstract

This project involves the study of active vibration control of the Stewart Platform using adaptive filtering approach. The system is first studied and examined. Robust adaptive filtering algorithms for active vibration control are then considered. The feedback filtered-X LMS algorithm is chosen to provide active, control for the PZT actuators of the platform. Experiments are conducted to verify the controller performance and the results are presented. About 20 dB to 30 dB of attenuation is achieved in real-time experiments for vibration frequency of the range from 60 Hz to 220 Hz.