Adaptive sliding mode control of flexure jointed hexapods

Heng Wang; Zongyu Zuo

doi:10.23919/ChiCC.2019.8865354

Adaptive sliding mode control of flexure jointed hexapods

Heng Wang
, Zongyu Zuo

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper investigates the vibration isolation problem for a specific kind of Stewart Platform called flexure jointed hexapod (FJH). First, an existing dynamic model of the hexapod is re-formulated appropriately for control design. Second, an adaptive sliding mode controller is proposed for the FJH in the presence of disturbances. The asymptotic stability of the closed-loop system is proved based on Lyapunov's approach and sliding mode theory. In order to eliminate the chattering, a saturation function is used instead of the symbolic function in the adaptive control law, and it is proved that the ultimate boundedness of the closed-loop system can be guaranteed. Finally, numerical simulation results are provided to demonstrate the effectiveness of the proposed controller.

Original language	English
Title of host publication	Proceedings of the 38th Chinese Control Conference, CCC 2019
Editors	Minyue Fu, Jian Sun
Publisher	IEEE Computer Society
Pages	479-484
Number of pages	6
ISBN (Electronic)	9789881563972
DOIs	https://doi.org/10.23919/ChiCC.2019.8865354
State	Published - Jul 2019
Event	38th Chinese Control Conference, CCC 2019 - Guangzhou, China Duration: 27 Jul 2019 → 30 Jul 2019

Publication series

Name	Chinese Control Conference, CCC
Volume	2019-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	38th Chinese Control Conference, CCC 2019
Country/Territory	China
City	Guangzhou
Period	27/07/19 → 30/07/19

Keywords

Adaptive sliding mode control
Disturbance suppression
Flexure jointed hexapod
Stewart platform

Access to Document

10.23919/ChiCC.2019.8865354

Cite this

@inproceedings{87cc60ea30004d68bdaf9435ca65291c,

title = "Adaptive sliding mode control of flexure jointed hexapods",

abstract = "This paper investigates the vibration isolation problem for a specific kind of Stewart Platform called flexure jointed hexapod (FJH). First, an existing dynamic model of the hexapod is re-formulated appropriately for control design. Second, an adaptive sliding mode controller is proposed for the FJH in the presence of disturbances. The asymptotic stability of the closed-loop system is proved based on Lyapunov's approach and sliding mode theory. In order to eliminate the chattering, a saturation function is used instead of the symbolic function in the adaptive control law, and it is proved that the ultimate boundedness of the closed-loop system can be guaranteed. Finally, numerical simulation results are provided to demonstrate the effectiveness of the proposed controller.",

keywords = "Adaptive sliding mode control, Disturbance suppression, Flexure jointed hexapod, Stewart platform",

author = "Heng Wang and Zongyu Zuo",

note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",

year = "2019",

month = jul,

doi = "10.23919/ChiCC.2019.8865354",

language = "英语",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "479--484",

editor = "Minyue Fu and Jian Sun",

booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",

address = "美国",

}

Wang, H & Zuo, Z 2019, Adaptive sliding mode control of flexure jointed hexapods. in M Fu & J Sun (eds), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8865354, Chinese Control Conference, CCC, vol. 2019-July, IEEE Computer Society, pp. 479-484, 38th Chinese Control Conference, CCC 2019, Guangzhou, China, 27/07/19. https://doi.org/10.23919/ChiCC.2019.8865354

Adaptive sliding mode control of flexure jointed hexapods. / Wang, Heng; Zuo, Zongyu.
Proceedings of the 38th Chinese Control Conference, CCC 2019. ed. / Minyue Fu; Jian Sun. IEEE Computer Society, 2019. p. 479-484 8865354 (Chinese Control Conference, CCC; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive sliding mode control of flexure jointed hexapods

AU - Wang, Heng

AU - Zuo, Zongyu

PY - 2019/7

Y1 - 2019/7

N2 - This paper investigates the vibration isolation problem for a specific kind of Stewart Platform called flexure jointed hexapod (FJH). First, an existing dynamic model of the hexapod is re-formulated appropriately for control design. Second, an adaptive sliding mode controller is proposed for the FJH in the presence of disturbances. The asymptotic stability of the closed-loop system is proved based on Lyapunov's approach and sliding mode theory. In order to eliminate the chattering, a saturation function is used instead of the symbolic function in the adaptive control law, and it is proved that the ultimate boundedness of the closed-loop system can be guaranteed. Finally, numerical simulation results are provided to demonstrate the effectiveness of the proposed controller.

AB - This paper investigates the vibration isolation problem for a specific kind of Stewart Platform called flexure jointed hexapod (FJH). First, an existing dynamic model of the hexapod is re-formulated appropriately for control design. Second, an adaptive sliding mode controller is proposed for the FJH in the presence of disturbances. The asymptotic stability of the closed-loop system is proved based on Lyapunov's approach and sliding mode theory. In order to eliminate the chattering, a saturation function is used instead of the symbolic function in the adaptive control law, and it is proved that the ultimate boundedness of the closed-loop system can be guaranteed. Finally, numerical simulation results are provided to demonstrate the effectiveness of the proposed controller.

KW - Adaptive sliding mode control

KW - Disturbance suppression

KW - Flexure jointed hexapod

KW - Stewart platform

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U2 - 10.23919/ChiCC.2019.8865354

DO - 10.23919/ChiCC.2019.8865354

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EP - 484

BT - Proceedings of the 38th Chinese Control Conference, CCC 2019

A2 - Fu, Minyue

A2 - Sun, Jian

PB - IEEE Computer Society

T2 - 38th Chinese Control Conference, CCC 2019

Y2 - 27 July 2019 through 30 July 2019

ER -

Adaptive sliding mode control of flexure jointed hexapods

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