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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Negash, D.S. Mitra, R. |
| Copyright Year | 2010 |
| Description | Author affiliation: Department of Electronics and Computer Engineering, Indian Institute of Technology Roorkee, India (Negash, D.S.; Mitra, R.) |
| Abstract | Conventional sliding mode controllers have been successfully applied to control various types systems including the Stewart platform manipulator. But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical implementations. To avoid the non robust reaching phase to compensate unmatched uncertainties, integral sliding mode controllers have been proposed but only SISO system examples have been tested. Hence in this paper, MIMO implementation of integral sliding mode controller is tested using a 6 DOF Stewart platform manipulator. The integral sliding mode controller is implemented using MATLAB simulation and the result is compared with PD and conventional sliding mode controller. It was found that the integral sliding mode controller performs better in avoiding uncertainties due to load variation and actuator friction. |
| Starting Page | 650 |
| Ending Page | 654 |
| File Size | 1734192 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424466511 |
| e-ISBN | 9781424466535 |
| DOI | 10.1109/ICIINFS.2010.5578628 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-07-29 |
| Publisher Place | India |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Jacobian matrices Stewart platform manipulator Uncertainty chattering Control systems classical sliding mode controller Joints Manipulator dynamics integral sliding mode controller Leg |
| Content Type | Text |
| Resource Type | Article |
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