NDLI: Smooth sliding mode tracking control of the Stewart platform

Content Provider	IEEE Xplore Digital Library
Author	Chin-I Huang Li-Chen Fu
Copyright Year	2005
Description	Author affiliation: Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei (Chin-I Huang; Li-Chen Fu)
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
Starting Page	43
Ending Page	48
File Size	289640
Page Count	6
File Format	PDF
ISBN	0780393546
DOI	10.1109/CCA.2005.1507098
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-28
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sliding mode control Motion control Control systems Velocity control Position measurement Velocity measurement Tracking Error correction Stability analysis Control design
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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