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Smooth integral sliding mode controller for the position control of Stewart platform |
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| Affiliation: | 1. Control and Research Group, Department of Engineering, University of Leicester, UK;2. College of Engineering Mathematics and Physical Sciences, University of Exeter, UK;1. Shaanxi Aerospace Flight Vehicle Design Key Laboratory, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, PR China;2. Beijing Institute of Control Engineering, Beijing 100190, PR China;1. Faculty of Electronic Technology, Industrial University of Ho Chi Minh City, Viet Nam;2. Faculty of Electrical-Electronic Engineering, DCSELAB, HCM City University of Technology, VNU-HCM, Viet Nam |
| Abstract: | This paper proposes the application of a new algorithm for the position control of a Stewart platform. The conventional integral sliding mode controller is a combination of nominal control and discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in the feedback control is undesirable for practical applications due to chattering which causes the wear and tear of the mechanical actuators. In this paper the existing integral sliding mode control law for systems with matched disturbances is modified by replacing the discontinuous part by a continuous modified twisting control. This proposed controller is continuous in nature due to the combinations of two continuous controls. The desired position of the platform has been achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results. |
| Keywords: | Stewart platform Super twisting observer Twisting algorithm Integral sliding mode control |
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