Efficient and equivalent control method for 5 DOF air floating platform

The five-degree-of-freedom air-floating microgravity platform system is complex and computationally intensive, which not only affects the pre-validation of the platform, but also puts high demands on the performance of the controller. To address the above problems, the kinetic model of decoupling is re-derived in this paper, and an efficient equivalent control rate is derived based on the Lyapunov method. Meanwhile, for the problem of solving the overdetermined moment balance equation, this paper proposes a heuristic and efficient solution method. The method can not only keep the same accuracy with the pseudo-inverse of the minimum parametric number, but also improve the system accuracy by minimizing the output quantity. In the physical experiments, the heuristic equation solution and the efficient equivalent control rate meet the real-time and accuracy requirements for a given tracking task with limited controller arithmetic power. The method has high application value, which can provide qualitative data judgment for the motion of air floating platform, and also provides an efficient and convenient control scheme for low configuration of air floating platform.