A Linear Time-Varying Model Predictive Control-Based Motion Cueing Algorithm for Hexapod Simulation-Based Motion Platform

IEEE The hexapod manipulator is the most common motion platform, which is widely used as a simulation-based motion platform (SBMP). As the hexapod manipulator has a limited workspace, it is not physically possible to regenerate the real vehicle motion signals using the SBMP. The motion cueing algorithm (MCA) is responsible for regenerating a realistic vehicle motion sensation for the user when the SBMP operates within its physical and dynamical limitations. Recently, model predictive control (MPC) has been introduced to extract the optimal input motion signals while considering the SBMP limitations in the Cartesian coordinate space, which leads to a linear time-invariant (LTI) MPC-based MCA methods. Unfortunately, the existing LTI MPC-based MCA methods are still not able to consider the parameters of the SBMP's hexapod mechanisms inside their models. In general, the current studies only consider the constraints in the Cartesian coordinate system of the hexapod mechanism, instead of its design parameters. This consideration results in a poor usage of the hexapod workspace due to the conservative assumptions; consequently, the SBMP users do not experience realistic motions. The main contribution of this article is to take the SBMP's physical limitations into account in the MPC model such that more precise motion cues can be extracted for the users. A linear time-varying (LTV) MPC-based MCA method is designed for the first time in this article to consider the parameters of the hexapod mechanism in the MPC model. The proposed model (LTV MPC-based MCA) is validated using the MATLAB software, and the results depict better motion sensation with more accurate motion signals as compared with those from the existing LTI MPC-based MCA methods.