@MASTERSTHESIS{ 2016:717663493,
 	title = {Quaternion-based dynamic control of a 6-DOF Stewart Platform for periodic disturbance rejection},
 	year = {2016},
 	url = "http://tede2.pucrs.br/tede2/handle/tede/7056",
 	abstract = "This work proposes a simultaneous decoupled dynamic linear translational and nonlinear rotational quaternion-based control of a Stewart platform. For the dynamic modeling of the manipulator, a Newton-Euler quaternion-based formulation was used for control design simplification. For the platform translation control, a mixed design composed by H∞, 𝒟-stability framework applied to a dynamic controller is presented along with an augmented representation to allow the use of Linear Matrix Inequalities (LMI). Periodic and constant disturbances are dealt with by the dynamic controller which is based on the Internal Model Principle (IMP). For the end effector orientation control, an approach consisting of a controller that achieves ℒ2 gain performance and a state-feedback control law based on the IMP is used in order to guarantee stability of the rotation system. The Jacobian of the platform is then used for control signal coupling. Numerical results show that the proposed controller is able to stabilize the system around the desired reference and successfully reject external periodic perturbations. Finally, the suggested control strategy is compared to an inverse dynamics controller and the results of both approaches are compared.",
 	publisher = {Pontifícia Universidade Católica do Rio Grande do Sul},
 	scholl = {Programa de Pós-Graduação em Engenharia Elétrica},
 	note = {Faculdade de Engenharia}
}