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Stabilization of Stewart platform using Higher Order Sliding Mode control

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2 Author(s)
Kumar, P.R. ; IDP in Syst. & Control Eng., Indian Inst. of Technol., Mumbai, Mumbai, India ; Bandyopadhyay, B.

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. The effectiveness of this control technique has been proved with simulation results.

Published in:

Electrical & Computer Engineering (ICECE), 2012 7th International Conference on

Date of Conference:

20-22 Dec. 2012

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