Disturbance Rejection for Stewart Platform Based on Integration of Equivalent-Input-Disturbance and Sliding-Mode Control Methods

This study integrated an improved equivalent-input-disturbance (IEID) and a sliding-mode control (SMC) methods to ensure reference tracking and enhance disturbance-rejection performance for a Stewart platform. The internal principle ensures steady-state tracking of the system. A sliding-mode control...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 28; no. 4; pp. 1 - 11
Main Authors Zhou, Yujian, She, Jinhua, Wang, Feng, Iwasaki, Makoto
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Closed loops
Control methods
Disturbance rejection
Disturbances
Equivalence
equivalent input disturbance (EID)
Feedback control
Legged locomotion
linear matrix equality (LMI)
Linear matrix inequalities
Mathematical analysis
Mechatronics
Observers
Rejection
Sliding mode control
sliding-mode control (SMC)
Stability analysis
State observers
Stewart platform
Switches
Tracking
Tracking control
Trajectory
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Summary:This study integrated an improved equivalent-input-disturbance (IEID) and a sliding-mode control (SMC) methods to ensure reference tracking and enhance disturbance-rejection performance for a Stewart platform. The internal principle ensures steady-state tracking of the system. A sliding-mode controller enhances the disturbance-rejection performance and tracking accuracy. The effects of the external disturbances are regarded as an overall disturbance. Then, a state observer and an IEID estimator estimate and compensate for the overall disturbance. The chattering phenomenon when implementing the SMC method is reduced because a small sliding-mode gain ensures the tracking precision in this control method. A stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Gains of the IEID estimator and the state observer are designed by a linear matrix inequality that ensures the stability of the system. This method has been verified on an actual Stewart platform. Experimental results show that our method has better disturbance-rejection performance than an SMC method and an IEID method under external disturbances.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2023.3237135