{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:11:56Z","timestamp":1760231516402,"version":"build-2065373602"},"reference-count":37,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2022,9,26]],"date-time":"2022-09-26T00:00:00Z","timestamp":1664150400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Regional Operational Programme for Opolskie Voivodeship 2014\u20132020","award":["RPOP.01.01.00-16-0007\/16"],"award-info":[{"award-number":["RPOP.01.01.00-16-0007\/16"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In the paper, an innovative control system devoted to the stabilization of the parallel manipulator-type Hexapod is presented. The device consists of three main parts, allowing us to reach the desired location during various external disturbances. Indeed, the telescopic boom located on the car along with the system providing the correction of the boom column deflection as well as the gyroscopic self-leveling head constitute a complex tool covering a plethora of modern techniques and solutions. Through the application of advanced issues strictly derived from nonlinear identification and multivariable control theory branches, the dynamical behavior of the discussed device has been handled in order to achieve a proper reference operation. Naturally, it has been supported by a set of accompanying approaches related to the processes of the real-time measurement and robust data transmission. It should be emphasized that the proposed computer-aided system is intended for the film industry, where image stabilization plays a crucial role. Such a statement has additionally been confirmed by other innovative products introduced by a company placed in Opole, Poland, called MovieBird International.<\/jats:p>","DOI":"10.3390\/s22197271","type":"journal-article","created":{"date-parts":[[2022,9,26]],"date-time":"2022-09-26T03:34:17Z","timestamp":1664163257000},"page":"7271","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Measurement-Aided Control System for Stabilization of the Real-Life Stewart Platform"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8210-9776","authenticated-orcid":false,"given":"Wojciech P.","family":"Hunek","sequence":"first","affiliation":[{"name":"Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Pr\u00f3szkowska 76 Street, 45-758 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2344-8612","authenticated-orcid":false,"given":"Pawe\u0142","family":"Majewski","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Pr\u00f3szkowska 76 Street, 45-758 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9330-4369","authenticated-orcid":false,"given":"Jaros\u0142aw","family":"Zygarlicki","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Pr\u00f3szkowska 76 Street, 45-758 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3555-7725","authenticated-orcid":false,"given":"\u0141ukasz","family":"Nagi","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Pr\u00f3szkowska 76 Street, 45-758 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9421-4277","authenticated-orcid":false,"given":"Dariusz","family":"Zmarz\u0142y","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Pr\u00f3szkowska 76 Street, 45-758 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roman","family":"Wiench","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Pr\u00f3szkowska 76 Street, 45-758 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3407-6818","authenticated-orcid":false,"given":"Pawe\u0142","family":"M\u0142otek","sequence":"additional","affiliation":[{"name":"MovieBird International, Romualda Traugutta 5 Street, 45-667 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2415-3418","authenticated-orcid":false,"given":"Piotr","family":"Warmuzek","sequence":"additional","affiliation":[{"name":"MovieBird International, Romualda Traugutta 5 Street, 45-667 Opole, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Helma, V., and Goubej, M. (2021, January 1\u20134). Active anti-sway crane control using partial state feedback from inertial sensor. Proceedings of the 2021 23rd International Conference on Process Control (PC), \u0160trbsk\u00e9 Pleso, Slovakia.","DOI":"10.1109\/PC52310.2021.9447485"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1837","DOI":"10.11591\/eei.v11i4.3731","article-title":"Upgrading for overhead crane anti-sway method using variable frequency drive","volume":"11","author":"Omar","year":"2022","journal-title":"Bull. Electr. Eng. Inform."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"3626","DOI":"10.1109\/TSMC.2021.3071546","article-title":"Adaptive Neural Network-Based Tracking Control of Underactuated Offshore Ship-to-Ship Crane Systems Subject to Unknown Wave Motions Disturbances","volume":"52","author":"Qian","year":"2022","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"103884","DOI":"10.1016\/j.autcon.2021.103884","article-title":"Decision support for hydraulic crane stabilization using combined loading and crane mat strength analysis","volume":"131","author":"Ali","year":"2021","journal-title":"Autom. Constr."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Qi, X., Ye, H., and Li, C. (2021, January 26\u201328). Stabilization of the Overhead Crane System via Saturation Technique. Proceedings of the 2021 40th Chinese Control Conference (CCC), Shanghai, China.","DOI":"10.23919\/CCC52363.2021.9550636"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Sabetghadam, B., Alc\u00e1ntara, A., Capit\u00e1n, J., Cunha, R., Ollero, A., and Pascoal, A. (2019, January 4\u20136). Optimal Trajectory Planning for Autonomous Drone Cinematography. Proceedings of the 2019 European Conference on Mobile Robots (ECMR), Prague, Czech Republic.","DOI":"10.1109\/ECMR.2019.8870950"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"P\u0103tru, G.C., Vasilescu, I., Rosner, D., and Tudose, D. (2021, January 26\u201328). Aerial Drone Platform for Asset Tracking Using an Active Gimbal. Proceedings of the 2021 23rd International Conference on Control Systems and Computer Science (CSCS), Bucharest, Romania.","DOI":"10.1109\/CSCS52396.2021.00030"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"395","DOI":"10.5194\/isprs-archives-XLVI-2-W1-2022-395-2022","article-title":"Good vibrations? How image stabilisation influences photogrammetry","volume":"46","author":"Nocerino","year":"2022","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1093\/imamci\/dnt046","article-title":"\u2018KL\u2019-gain adaptation for attractive ellipsoid method","volume":"32","author":"Ordaz","year":"2015","journal-title":"IMA J. Math. Control. Inf."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1","DOI":"10.4173\/mic.2022.1.1","article-title":"Model-free Control of Partially Observable Underactuated Systems by pairing Reinforcement Learning with Delay Embeddings","volume":"43","author":"Knudsen","year":"2022","journal-title":"Model. Identif. Control."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"118","DOI":"10.1016\/j.fss.2015.01.010","article-title":"Anti-sway tracking control of tower cranes with delayed uncertainty using a robust adaptive fuzzy control","volume":"290","author":"Wu","year":"2016","journal-title":"Fuzzy Sets Syst."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Astrov, I., Udal, A., and Molder, H. (2021, January 7\u20139). A Trajectory Control Method for a Strongly Underactuated Spherical Underwater Surveillance Robot. Proceedings of the 2021 IEEE 25th International Conference on Intelligent Engineering Systems (INES), Budapest, Hungary.","DOI":"10.1109\/INES52918.2021.9512931"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Garc\u00eda-Mart\u00ednez, J.R., Cruz-Miguel, E.E., Carrillo-Serrano, R.V., Mendoza-Mondrag\u00f3n, F., Toledano-Ayala, M., and Rodr\u00edguez-Res\u00e9ndiz, J. (2020). A PID-Type Fuzzy Logic Controller-Based Approach for Motion Control Applications. Sensors, 20.","DOI":"10.3390\/s20185323"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Zhou, Z., Zhang, B., and Mao, D. (2019). MIMO Fuzzy Sliding Mode Control for Three-Axis Inertially Stabilized Platform. Sensors, 19.","DOI":"10.3390\/s19071658"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Chaubey, S., and Puig, V. (2022). Autonomous Vehicle State Estimation and Mapping Using Takagi-Sugeno Modeling Approach. Sensors, 22.","DOI":"10.3390\/s22093399"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"063005","DOI":"10.1063\/2.1206305","article-title":"Development of flexible telescopic boom model using absolute nodal coordinate formulation sliding joint constraints with LuGre friction","volume":"2","author":"Fujita","year":"2012","journal-title":"Theor. Appl. Mech. Lett."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"312","DOI":"10.1016\/j.isatra.2015.11.011","article-title":"Independent motion control of a tower crane through wireless sensor and actuator networks","volume":"60","author":"Koumboulis","year":"2016","journal-title":"ISA Trans."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1016\/j.mechatronics.2015.11.009","article-title":"Modelling and control of coupled bending and torsional vibrations of an articulated aerial ladder","volume":"33","author":"Pertsch","year":"2016","journal-title":"Mechatronics"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1016\/j.compag.2014.09.006","article-title":"Nonlinear model predictive control of hydraulic forestry crane with automatic sway damping","volume":"109","author":"Kalmari","year":"2014","journal-title":"Comput. Electron. Agric."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1016\/j.autcon.2015.05.003","article-title":"Modelling and robust trajectory following for offshore container crane systems","volume":"59","author":"Ismail","year":"2015","journal-title":"Autom. Constr."},{"key":"ref_21","unstructured":"MotionSystems (2022). Motion Platform PS-6TM-2500, MotionSystems. Technical Report."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"104950","DOI":"10.1016\/j.rinp.2021.104950","article-title":"A new and general fractional Lagrangian approach: A capacitor microphone case study","volume":"31","author":"Jajarmi","year":"2021","journal-title":"Results Phys."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"A35","DOI":"10.1017\/jfm.2021.834","article-title":"Lagrangian approach for modal analysis of fluid flows","volume":"928","author":"Shinde","year":"2021","journal-title":"J. Fluid Mech."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1016\/S0022-460X(02)01447-5","article-title":"A dynamic Lagrangian frequency\u2013time method for the vibration of dry-friction-damped systems","volume":"265","author":"Nacivet","year":"2003","journal-title":"J. Sound Vib."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1943","DOI":"10.1007\/s11071-011-0119-y","article-title":"Numerical assessment of friction damping at turbine blade root joints by simultaneous calculation of the static and dynamic contact loads","volume":"67","author":"Zucca","year":"2012","journal-title":"Nonlinear Dyn."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1007\/s00419-021-02062-5","article-title":"A new approach to nonlinear quartic oscillators","volume":"92","author":"Anukool","year":"2022","journal-title":"Arch. Appl. Mech."},{"key":"ref_27","first-page":"50","article-title":"Some Geometrical Aspects of Fractional Nonconservative Autonomous Lagrangian Mechanics","volume":"5","year":"2006","journal-title":"Int. J. Appl. Math. Stat."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"249","DOI":"10.4208\/ata.2014.v30.n3.1","article-title":"Fractional variational approach for dissipative mechanical systems","volume":"30","year":"2014","journal-title":"Anal. Theory Appl."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"He, Z., Feng, X., Zhu, Y., Yu, Z., Li, Z., Zhang, Y., Wang, Y., Wang, P., and Zhao, L. (2022). Progress of Stewart Vibration Platform in Aerospace Micro\u2013Vibration Control. Aerospace, 9.","DOI":"10.3390\/aerospace9060324"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"113304","DOI":"10.1016\/j.engstruct.2021.113304","article-title":"Revisiting Stewart\u2013Gough platform applications: A kinematic pavilion","volume":"249","author":"Markou","year":"2021","journal-title":"Eng. Struct."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"8356","DOI":"10.1016\/j.jfranklin.2021.08.027","article-title":"Adaptive sliding mode control for uncertain Euler\u2013Lagrange systems with input saturation","volume":"358","author":"Shao","year":"2021","journal-title":"J. Frankl. Inst."},{"key":"ref_32","first-page":"857","article-title":"High-gain PI-like control of Euler\u2013Lagrange mechanical systems: Simulations and experiments in 2DoF robotic manipulators","volume":"236","year":"2022","journal-title":"Proc. Inst. Mech. Eng. Part I J. Syst. Control. Eng."},{"key":"ref_33","unstructured":"Farnam, A., Mehdizadeh Gavgani, B., and Crevecoeur, G. (2022, January 14\u201315). A Robust Synchronizing Distributed Controller for Multi-Robotic Manipulators with Euler-Lagrange Equations. Proceedings of the Flanders Make Conference on Machines, Vehicles and Production Technology, Ghent, Belgium."},{"key":"ref_34","unstructured":"XSENS Technologies (2009). MTi-28A53G25 Miniature Attitude and Heading Reference System, XSENS Technologies. Technical Report."},{"key":"ref_35","unstructured":"Mathworks (2022). Description of Matlab Ahrsfilter\u2014Orientation from Accelerometer, Gyroscope, and Magnetometer Readings, Mathworks."},{"key":"ref_36","unstructured":"Bottle, K. (2016). Stewart Platform Mechanical System, Mathworks. Technical Report."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1109\/87.481763","article-title":"A roll stabilization system for a monohull ship: Modeling, identification, and adaptive control","volume":"4","author":"Fortuna","year":"1996","journal-title":"IEEE Trans. Control. Syst. Technol."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/19\/7271\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:39:24Z","timestamp":1760143164000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/19\/7271"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,26]]},"references-count":37,"journal-issue":{"issue":"19","published-online":{"date-parts":[[2022,10]]}},"alternative-id":["s22197271"],"URL":"https:\/\/doi.org\/10.3390\/s22197271","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2022,9,26]]}}}