Stabilization of Stewart platform using Higher Order Sliding Mode control

This paper presents a technique to control the Stewart platform using Higher Order sliding Mode(HOSM). For a given position of the platform, the leg lengths are estimated using inverse kinematics and the corresponding leg velocities are estimated in finite time using a super twisting observer. The d...

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Bibliographic Details
Published in2012 7th International Conference on Electrical and Computer Engineering pp. 945 - 948
Main Authors Kumar, P. R., Bandyopadhyay, B.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2012
Subjects
higher order sliding mode control
Joints
Kinematics
Manipulator dynamics
Mathematical model
Observers
Stewart platform
super twisting algorithm
Vectors
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Summary:This paper presents a technique to control the Stewart platform using Higher Order sliding Mode(HOSM). For a given position of the platform, the leg lengths are estimated using inverse kinematics and the corresponding leg velocities are estimated in finite time using a super twisting observer. The desired position of the platform has been achieved in finite time using a higher order sliding mode controller. The effectiveness of this control technique has been proved with simulation results.
ISBN:146731434X
9781467314343
DOI:10.1109/ICECE.2012.6471707