Smooth integral sliding mode controller for the position control of Stewart platform
| Autor: | Bijnan Bandyopadhyay, P. Ramesh Kumar, Asif Chalanga |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Variable structure control
Engineering Wear and tear business.industry Applied Mathematics Stewart Platform Systems Twisting Algorithm Control engineering Stewart platform Tracking Control Super Twisting Observer Sliding mode control Computer Science Applications Integral sliding mode Integral Sliding Mode Control Manipulator Control and Systems Engineering Control theory Electrical and Electronic Engineering Integral sliding mode controller Actuator business Instrumentation Position control |
| Zdroj: | ISA Transactions. 58:543-551 |
| ISSN: | 0019-0578 |
| DOI: | 10.1016/j.isatra.2015.06.003 |
| Popis: | This paper proposes the application of a new algorithm for the position control of a Stewart platform. The conventional integral sliding mode controller is a combination of nominal control and discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in the feedback control is undesirable for practical applications due to chattering which causes the wear and tear of the mechanical actuators. In this paper the existing integral sliding mode control law for systems with matched disturbances is modified by replacing the discontinuous part by a continuous modified twisting control. This proposed controller is continuous in nature due to the combinations of two continuous controls. The desired position of the platform has been achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results. (C) 2015 ISA. Published by Elsevier Ltd. All rights, reserved. |
| Databáze: | OpenAIRE |
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