Adaptive backstepping tracking control of the Stewart platform

Author

Huang, Chin-I ; Fu, Li-Chen

Author_Institution

Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan

Volume

5

fYear

2004

fDate

14-17 Dec. 2004

Firstpage

5228

Abstract

This paper presents an adaptive backstepping control approach for the motion control of a Stewart platform. The control scheme is proposed given that the overall system parameters are subject to uncertainties while only the positions and velocities of links are measurable. To achieve high performance tracking control of a 6 DOF Stewart platform normally requires the full knowledge of the system dynamics. In this paper, some important properties of the dynamics of the Stewart platform have been derived and exploited to develop an adaptive backstepping controller which can drive the motion tracking error to zero asymptotically. Stability analysis based on Lyapunov theory is performed to guarantee that the controller design is stable. Finally, the experimental results confirm the effectiveness of our control design.

Keywords

Lyapunov methods; adaptive control; manipulator dynamics; manipulator kinematics; motion control; stability; tracking; variable structure systems; Lyapunov theory; Stewart platform; adaptive backstepping tracking control; controller design; dynamics; link positions; link velocities; motion control; motion tracking error; stability analysis; uncertainties; Adaptive control; Backstepping; Control systems; Error correction; Motion control; Position measurement; Programmable control; Tracking; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2004. CDC. 43rd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-8682-5

Type

conf

DOI

10.1109/CDC.2004.1429638

Filename

1429638