Ramesh Kumar, P. ; Bandyopadhyay, B. (2015) Super twisting controller for the position control of Stewart platform In: International Conference on Advances in Computing, Communications and Informatics (ICACCI), 10-13 Aug. 2015, Kochi, India.
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Official URL: http://doi.org/10.1109/ICACCI.2015.7275679
Related URL: http://dx.doi.org/10.1109/ICACCI.2015.7275679
Abstract
This paper proposes the application of a super twisting algorithm based control strategy for the position control of a Stewart platform. The conventional sliding mode controller is making use of a discontinuous feedback control, hence the control effort is discontinuous in nature. The discontinuity in feedback control induces the dangerous high frequency vibrations called chattering, which is highly undesirable for practical applications. The proposed super twisting controller is continuous in nature and the chattering is eliminated. The desired position of the platform has been achieved using the proposed method even in the presence of matched disturbances. The effectiveness of the proposed method has been demonstrated with the simulation results.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Source: | Copyright of this article belongs to Institute of Electrical and Electronics Engineers. |
| Keywords: | Stewart Platform; Higher Order Sliding Mode Control; Super Twisting Algorithm. |
| ID Code: | 115962 |
| Deposited On: | 18 Mar 2021 05:15 |
| Last Modified: | 18 Mar 2021 05:15 |
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