Quaternion-based dynamic control of a 6-DOF Stewart platform for periodic disturbance rejection

This paper proposes a simultaneous decoupled dynamic linear translational and non-linear rotational quaternion-based control of a Stewart platform. For the translation of the platform, a mixed design composed by ℋ
_∞
, D-stability and internal model control is presented. An augmented representation of the system allows the controller design to be cast as an optimization problem constrained by Linear Matrix Inequalities (LMI). For the rotational control of the end effector, a Lyapunov-LaSalle approach is used to guarantee asymptotic stability of the closed loop system. Numerical simulations are used to show that the final solution is able to stabilize the system around the reference vector and successfully reject external periodic perturbations.