TY - GEN
T1 - Study of sliding mode control for stewart platform based on simplified dynamic model
AU - Qiang, Wu
AU - Juan, Chen
AU - Zhiyong, Tang
PY - 2008
Y1 - 2008
N2 - Stewart mechanism is widely used in industry. To study the control of Stewart mechanism, hydraulic Stewart platform was used as plant. Controller was designed according to dynamic model, so local closed-loop control system was to be built. Coefficient matrices of dynamic equation of Stewart platform can only be known by measuring real-time pose of platform and doing real-time calculation, which makes application complicated. Therefore dynamic model was transformed, and one operating point was defined as nominal operating point, where coefficient matrices of dynamic equation were constant. Sliding mode controller was designed with simplified dynamic model, and reaching condition of sliding mode was given in the entire workspace of platform. Hence real-time pose measure is avoided and calculation is reduced. Simulation and experiments show that system performance of trajectory tracking with payload is improved by use of the proposed controller.
AB - Stewart mechanism is widely used in industry. To study the control of Stewart mechanism, hydraulic Stewart platform was used as plant. Controller was designed according to dynamic model, so local closed-loop control system was to be built. Coefficient matrices of dynamic equation of Stewart platform can only be known by measuring real-time pose of platform and doing real-time calculation, which makes application complicated. Therefore dynamic model was transformed, and one operating point was defined as nominal operating point, where coefficient matrices of dynamic equation were constant. Sliding mode controller was designed with simplified dynamic model, and reaching condition of sliding mode was given in the entire workspace of platform. Hence real-time pose measure is avoided and calculation is reduced. Simulation and experiments show that system performance of trajectory tracking with payload is improved by use of the proposed controller.
KW - Dynamic model
KW - Nominal operating point
KW - Sliding mode controller
KW - Stewart platform
UR - https://www.scopus.com/pages/publications/54849425993
U2 - 10.1109/INDIN.2008.4618227
DO - 10.1109/INDIN.2008.4618227
M3 - 会议稿件
AN - SCOPUS:54849425993
SN - 9781424421718
T3 - IEEE International Conference on Industrial Informatics (INDIN)
SP - 889
EP - 892
BT - Proceedings - IEEE INDIN 2008
T2 - IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics
Y2 - 13 July 2008 through 16 July 2008
ER -