Position control of Stewart platform using continuous higher order sliding mode control

Abstract

This paper proposes the application of a continuous higher order sliding mode controller for the position control of a Stewart platform. The conventional integral sliding mode controller consists of a nominal control and a discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in feedback control is undesirable for practical applications due to chattering. Recently a continuous higher order sliding mode control is proposed in which, the benefit of super twisting control and integral sliding mode control is suitably combined [1], [2]. This novel method is applied for the position control of the Stewart platform. This proposed controller is continuous in nature due to the combinations of two continuous control and the disturbance can be estimated successfully. The desired position of the platform has been achieved using this controller even in the presence of matched disturbances. The effectiveness of the controller has been demonstrated with the simulation results.