X-Shaped Structure-Based Modeling and Control for a Stable Platform with a Series Elastic Actuator

Stable platforms are widely used in many fields to keep the environment stable for load under influence of motion craft and other carriers. However, its stability has always been an important serious challenge researchers. In order further improve shock absorption performance, a dynamic model based on platform with series elastic actuator (SEA) is established. Meanwhile, reference trajectory X-shaped structure designed ignorance beneficial nonlinearity fixed platform. addition, backstepping control method proposed accomplish stronger faster stabilization more robustness. Simulations carried out, effectiveness verified by comparative simulations PID controller.