Study of sliding mode control for Stewart platform based on simplified dynamic model

Qiang Wu; Juan Chen; Zhiyong Tang

doi:10.1117/12.807503

13 October 2008 Study of sliding mode control for Stewart platform based on simplified dynamic model

Qiang Wu, Juan Chen, Zhiyong Tang

Proceedings Volume 7129, Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration; 71291N (2008) https://doi.org/10.1117/12.807503
Event: Seventh International Symposium on Instrumentation and Control Technology, 2008, Beijing, China

Abstract

Stewart mechanism is widely used in industry. To study the control of Stewart mechanism, hydraulic Stewart platform was used as plant. Controller was designed according to dynamic model and local closed-loop control system was built. Coefficient matrices of dynamic equation of Stewart platform can only be known by measuring real-time pose of platform and doing real-time calculation, which makes application complicated. Therefore dynamic model was transformed, and one operating point was defined as nominal operating point, where coefficient matrices of dynamic equation were constant. Sliding mode controller was designed with simplified dynamic model, and reaching condition of sliding mode was given in the entire workspace of platform. Hence real-time pose measure is avoided and calculation is reduced. Simulation and experiments show that trajectory tracking performance with payload is improved by use of the proposed controller.

Citation Download Citation

Qiang Wu, Juan Chen, and Zhiyong Tang "Study of sliding mode control for Stewart platform based on simplified dynamic model", Proc. SPIE 7129, Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration, 71291N (13 October 2008); https://doi.org/10.1117/12.807503

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available