Research on MPC Control of a 6 DOF Stewart Platform

This paper proposes an algorithm to solve inverse kinematics problem for Stewart Platform which is based on a parallel mechanism and can provide 6 degrees of freedom. After modeling of the Stewart Platform's motions as ball-and-plate system, the 6–3 spherical-prismatic-spherical (SPS) and the 6–6 SPS, equations for Stewart platform dynamics are presented. A model predictive control (MPC) is put forward to solve the optimal control problem by calculating the applied input on-line over affixed prediction horizon into the future.