Research on motion driving and tracking control of 3-DOF parallel stabilized platform

The stabilized platform can keep the equipment’s horizontal attitude above the carrier stable, provide a relative safe working environment, and possess the motion simulation function. Due to unknown and time-varying environmental information, the platform’s stability control is susceptible to mechanical resonance, parameter gain chattering, and response lag. This paper proposes a three-degree-of-freedom (3-DOF) parallel stabilized platform and elaborates the design concept. A sliding mode variable structure controller (SMC) in single-cylinder based on the Lyapunov stability theory is designed, and we discuss the controller’s adjustability. SMC improves system’s control accuracy and environmental adaptability. Switching feedforward control method is applied to achieve horizontal postures stability. Attitude tracking experiments are carried out under different disturbance conditions to verify the feasibility of the algorithm.