Title :
Position stabilization of a Stewart platform: High-order sliding mode observers based approach
Author :
Cuesta, Liset Fraguela ; Fridman, Leonid ; Alexandrov, Vladimir V.
Author_Institution :
Dept. of Control, Univ. Nac. Autonoma de Mexico, Mexico City, Mexico
Abstract :
The problem of robust exact control for a Stewart platform with smooth bounded unknown inputs is considered. This platform has three degrees of freedom and it is used as a remote surveillance device. We consider high-order sliding mode observers to provide both theoretical exact observation and unknown input identification. In this paper, a methodology is proposed to select the most adequate control strategy for unknown external perturbation identification. The results obtained are illustrated by simulations.
Keywords :
higher order statistics; observers; perturbation techniques; position control; robust control; variable structure systems; Stewart platform; degrees of freedom; high-order sliding mode observers; perturbation identification; position stabilization; remote surveillance device; robust exact control; unknown input identification; Actuators; Convergence; Equations; Mobile communication; Observers; Surveillance; Uncertainty;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160460
