Smooth sliding mode tracking control of the Stewart platform

Author

Huang, Chin-I ; Fu, Li-Chen

Author_Institution

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

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

43

Lastpage

48

Abstract

This paper presents a smooth sliding mode 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 a sliding mode 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; control system synthesis; manipulator dynamics; motion control; stability; tracking; uncertain systems; variable structure systems; Lyapunov theory; Stewart platform; controller design; motion control; motion tracking error; sliding mode tracking control; stability analysis; system dynamics; uncertain system; Control design; Control systems; Error correction; Motion control; Position measurement; Sliding mode control; Stability analysis; Tracking; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507098

Filename

1507098