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http://dx.doi.org/10.5302/J.ICROS.2002.8.8.639

The Design of Sliding Mode Controller with Sliding Perturbation Observer for a Robust Control of Stewart Platform Manipulator  

You, Ki-Sung (Dept.of Intelligent Mechanical Engineering, Busan National University)
Park, Min-Kyu (Dept.of Intelligent Mechanical Engineering, Busan National University)
Lee, Min-Cheol (Busan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.8, 2002 , pp. 639-648 More about this Journal
Abstract
The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.
Keywords
stewart platform; perturbation; sliding mode control with sliding perturbation observer (SMCSPO); variable structure controller(VSC );
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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