TY - GEN
T1 - Direct sliding-mode controller design for a 6DOF Stewart manipulator
AU - Iqbal, S.
AU - Bhatti, A. I.
PY - 2006
Y1 - 2006
N2 - The focus is on direct sllding-mode control design for tracking and regulation of a Stewart platform without any apriori knowledge of the system's mass properties in presence of nonlinearities. The position and velocities are the major inputs to the controller. The appropriately chosen sliding surface s ε R6, composed of system states vectors, proper choice of reachability gains drive the system to stable manifold and then slide it to an equilibrium point. It leads us to a control law which clearly deals with nominal performance and robust stability. The resulting dynamic feedback is shown to provide chatter-free control. The controller is based on generalized Lyapunov approach and guarantees global asymptotic and exponential convergence. The control performance of the proposed algorithm is verified by computer simulations. These simulations show that system follows the desired trajectory and errors efficiently converged to zero.
AB - The focus is on direct sllding-mode control design for tracking and regulation of a Stewart platform without any apriori knowledge of the system's mass properties in presence of nonlinearities. The position and velocities are the major inputs to the controller. The appropriately chosen sliding surface s ε R6, composed of system states vectors, proper choice of reachability gains drive the system to stable manifold and then slide it to an equilibrium point. It leads us to a control law which clearly deals with nominal performance and robust stability. The resulting dynamic feedback is shown to provide chatter-free control. The controller is based on generalized Lyapunov approach and guarantees global asymptotic and exponential convergence. The control performance of the proposed algorithm is verified by computer simulations. These simulations show that system follows the desired trajectory and errors efficiently converged to zero.
UR - https://www.scopus.com/pages/publications/46449090976
U2 - 10.1109/INMIC.2006.358204
DO - 10.1109/INMIC.2006.358204
M3 - Conference contribution
AN - SCOPUS:46449090976
SN - 142440794X
SN - 9781424407941
T3 - 10th IEEE International Multitopic Conference 2006, INMIC
SP - 421
EP - 426
BT - 10th IEEE International Multitopic Conference 2006, INMIC
ER -