Cart (Loading....) | Create Account
Close category search window
 

Smooth sliding mode tracking control of the Stewart platform

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Chin-I Huang ; Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei ; Li-Chen Fu

This paper presents a smooth sliding mode control approach for the motion control of a Stewart platform. The control scheme is proposed given that the overall system parameters are subject to uncertainties while only the positions and velocities of links are measurable. To achieve high performance tracking control of a 6 DOF Stewart platform normally requires the full knowledge of the system dynamics. In this paper, some important properties of the dynamics of the Stewart platform have been derived and exploited to develop a sliding mode controller which can drive the motion tracking error to zero asymptotically. Stability analysis based on Lyapunov theory is performed to guarantee that the controller design is stable. Finally, the experimental results confirm the effectiveness of our control design

Published in:

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Date of Conference:

28-31 Aug. 2005

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.