An integral variable structure controller with fuzzy tuning design for electro-hydraulic driving Stewart platform

This paper presents a novel robust sliding mode controller with fuzzy tuning for Stewart platform servo system, which suffers from high nonlinear dynamics and serious load coupling among channels. The controller consists of an equivalent control to assign desired dynamics to the closed-loop system, a switching control to guarantee a sliding mode, and a fuzzy control to enhance fast tracking and attenuate chattering. To verify the potential and effectiveness of the proposed controller, simulations and experiments are made. The results demonstrate its strong robustness against a large range of parameters variations and load disturbance and its capability of restraining the serious load coupling among channels and improving the trajectories tracking performance