Journal
ISA TRANSACTIONS
Volume 58, Issue -, Pages 543-551Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2015.06.003
Keywords
Stewart platform; Super twisting observer; Twisting algorithm; Integral sliding mode control
Ask authors/readers for more resources
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. (C) 2015 ISA. Published by Elsevier Ltd. All rights, reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available