Second order sliding mode control on task-space of a 6-DOF Stewart platform

Chen, SH; Lin, CT; Fu, LC

Second order sliding mode control on task-space of a 6-DOF Stewart platform

Chen, SH Lin, CT

Fu, LC

Permalink

Publication Type:: Conference Proceeding
Citation:: IECON Proceedings (Industrial Electronics Conference), 2012, pp. 2482 - 2487
Issue Date:: 2012-12-01

Closed Access

	Filename	Description	Size
	06388699.pdf	Published version	2.15 MB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Chen, SH	en_US
dc.contributor.author	Lin, CT https://orcid.org/0000-0001-8371-8197	en_US
dc.contributor.author	Fu, LC	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	IECON Proceedings (Industrial Electronics Conference), 2012, pp. 2482 - 2487	en_US
dc.identifier.isbn	9781467324212	en_US
dc.identifier.uri	http://hdl.handle.net/10453/121209
dc.description.abstract	In this paper, the second order sliding mode control strategy is applied on a 6-dof parallel manipulator, so-called Stewart platform. The advantages such as robustness and design simplicity of sliding mode control are the main reason that it was often used on robotic systems. However, the chattering phenomenon of conventional sliding mode control may cause unstability due to the practical implementations of the switching control. As a result of discontinuous control signal, the chattering phenomenon can be eliminated via designing a higher order control strategy. Once the switching signal is designed in higher order manifold, the real input will be smoothed because of the integration. The paper represents a robustness control method without chattering for Stewart platform which is a multi-input nonlinear system. The control performance of the second-order approach was compared to conventional sliding mode control in the simulation results. © 2012 IEEE.	en_US
dc.relation.ispartof	IECON Proceedings (Industrial Electronics Conference)	en_US
dc.relation.isbasedon	10.1109/IECON.2012.6388699	en_US
dc.title	Second order sliding mode control on task-space of a 6-DOF Stewart platform	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Computer Science
pubs.organisational-group	/University of Technology Sydney/Strength - CAI - Centre for Artificial Intelligence
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

In this paper, the second order sliding mode control strategy is applied on a 6-dof parallel manipulator, so-called Stewart platform. The advantages such as robustness and design simplicity of sliding mode control are the main reason that it was often used on robotic systems. However, the chattering phenomenon of conventional sliding mode control may cause unstability due to the practical implementations of the switching control. As a result of discontinuous control signal, the chattering phenomenon can be eliminated via designing a higher order control strategy. Once the switching signal is designed in higher order manifold, the real input will be smoothed because of the integration. The paper represents a robustness control method without chattering for Stewart platform which is a multi-input nonlinear system. The control performance of the second-order approach was compared to conventional sliding mode control in the simulation results. © 2012 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/121209