Abstract: By considering the special characteristic of distinct dynamical couple between cabin-cable system and Stewart platform, the tracking control of the Stewart platform on the flexible supporting structure is studied. The dynamic coupling between the two comprised systems are considered as the unknown to the Stewart platform. A velocity controller is proposed for the Stewart platform with the flexible supporting based high gain feedback observer. Numerical simulation shows that the dynamic coupling is attenuated effectively and that trajectory tracking is improved.

Key words: cabin-cable system, Stewart platform, dynamical coupling, velocity control