A Comparative Analysis of PID, Fuzzy and H Infinity Controllers Applied to a Stewart Platform

Abstract

This work presents the design of three controllers, the H infinity controller with output feedback, the PID controller and the Fuzzy controller applied to a Stewart platform. The actuator model was obtained by a step voltage input to the electric motor and measuring its displacement by the encoders coupled, in each of the respective axes of the motors. The motion transmission relation mechanism between the motor shaft and each actuator is obtained by the displacement spindle from the rotation of motor which are measured by the corresponding encoder. The kinematics and dynamics platform’s data compose the whole systems models. Several experiments were carried out on the real Stewart platform with the help of an XsensMTi-G inertial sensor to measure the Platform Euler angles. The experimental results obtained by the three controllers were satisfactory in position control and orientation of the Stewart platform.