Algorithms for active vibration isolation on spacecraft using a Stewart platform

Abstract

This paper presents the recent development in algorithms for active vibration isolation onspacecraft using a Stewart platform. The multiple error least mean square (LMS) algorithmand the clear box algorithm have been implemented on these platforms and severalenhancements have been made to the clear box algorithm. Based on experimental results, itis concluded that the multiple error LMS algorithm is preferred for vibration isolation whena disturbance correlated signal is available. In the absence of such a signal, the clear boxalgorithm is the method of choice. Among the implementations of the clear boxalgorithm, the sine/cosine method is preferred for handling time-invariant disturbancefrequencies, the adaptive method for rapidly varying disturbance frequencies, andthe frequency-domain method for a large number of time invariant disturbancefrequencies.