Robust Continuous Finite-Time Tracking Control with Finite-Time Observer for a Stewart Platform

Nithin Xavier,Bijnan Bandyopadhyay,Johann Reger,Lars Watermann

2022 IEEE 17th International Conference on Advanced Motion Control (AMC)（2022）

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摘要

In this paper, a third-order sliding mode control (SMC) with a super-twisting finite time observer is proposed for the position control of a Stewart platform. The Stewart platform is a parallel robotic manipulator with a fixed base platform connected to a movable top platform with the help of six actuator legs. The proposed control makes the movable platform track a reference trajectory in finite ...

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关键词

Legged locomotion,PI control,Tracking,Computational modeling,Observers,Time measurement,Robustness

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