TY - GEN
T1 - Continuous terminal sliding mode control with perturbation estimation for a stewart platform
AU - Luong, Tuan Anh
AU - Seo, Sungwon
AU - Jeon, Jeongmin
AU - Park, Jeongyeol
AU - Koo, Ja Choon
AU - Choi, Hyouk Ryeol
AU - Moon, Hyungpil
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/25
Y1 - 2017/7/25
N2 - In this paper, a finite time continuous terminal sliding mode controller with perturbation estimation for a Stewart platform is developed. Based on the robot's dynamic model, which was formulated in the active joint space, a continuous sliding mode type control law was designed to specify a finite time reaching law and a finite time sliding surface. In addition, it incorporates an estimated uncertainty term that compensates for the un-modeled dynamics, and time-varying external disturbances, therefore improving the controller's robustness. The stability analysis is performed using the Lyapunov theory. The effectiveness of the controller is verified through simulation in comparison with a computed-torque controller, in case there are model parameter variations and time-varying uncertainties. The simulation results show that the proposed controller has a superior performance of small tracking errors (nearly 10 times smaller) to that a computed torque method, and it is free chattering and robust to model parameter variations (up to 30%) and time-varying uncertainties.
AB - In this paper, a finite time continuous terminal sliding mode controller with perturbation estimation for a Stewart platform is developed. Based on the robot's dynamic model, which was formulated in the active joint space, a continuous sliding mode type control law was designed to specify a finite time reaching law and a finite time sliding surface. In addition, it incorporates an estimated uncertainty term that compensates for the un-modeled dynamics, and time-varying external disturbances, therefore improving the controller's robustness. The stability analysis is performed using the Lyapunov theory. The effectiveness of the controller is verified through simulation in comparison with a computed-torque controller, in case there are model parameter variations and time-varying uncertainties. The simulation results show that the proposed controller has a superior performance of small tracking errors (nearly 10 times smaller) to that a computed torque method, and it is free chattering and robust to model parameter variations (up to 30%) and time-varying uncertainties.
KW - finite time control
KW - perturbation estimation
KW - Redundant parallel manipulator
KW - Stewart platform
UR - https://www.scopus.com/pages/publications/85034269546
U2 - 10.1109/URAI.2017.7992751
DO - 10.1109/URAI.2017.7992751
M3 - Conference contribution
AN - SCOPUS:85034269546
T3 - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
SP - 360
EP - 365
BT - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Y2 - 28 June 2017 through 1 July 2017
ER -