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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...
This paper proposes the application of a continuous higher order sliding mode controller for the position control of a Stewart platform. The conventional integral sliding mode controller consists of a nominal control and a discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in feedback control is undesirable for practical applications due to chattering...
This paper presents a technique to control the Stewart platform using Higher Order sliding Mode(HOSM). For a given position of the platform, the leg lengths are estimated using inverse kinematics and the corresponding leg velocities are estimated in finite time using a super twisting observer. The desired position of the platform has been achieved in finite time using a higher order sliding mode controller...
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