Kumar, P. Ramesh ; Bandyopadhyay, B. (2013) Stabilization of stewart platform using Smooth Second Order Sliding Mode Controller In: 2013 IEEE International Symposium on Industrial Electronics, 28-31 May 2013, Taipei, Taiwan.
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Official URL: http://doi.org/10.1109/ISIE.2013.6563760
Related URL: http://dx.doi.org/10.1109/ISIE.2013.6563760
Abstract
This paper presents a technique to control the Stewart platform using a Smooth Second Order sliding Mode (SSOSM) Controller based on modified “twisting” algorithm for relative degree two systems. For a given position of the platform, the leg lengths and leg velocities are estimated using inverse kinematics. The desired position of the platform has been achieved with a smooth control using a Smooth Second Order Sliding Mode Controller. The results show that control input is free from chattering. The effectiveness of this control technique has been proved with 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; Chattering; Smooth Second Order Sliding Mode Control. |
| ID Code: | 115975 |
| Deposited On: | 18 Mar 2021 07:47 |
| Last Modified: | 18 Mar 2021 07:47 |
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