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Proceedings Paper

Study of sliding mode control for Stewart platform based on simplified dynamic model
Author(s): Qiang Wu; Juan Chen; Zhiyong Tang
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Paper Abstract

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 and local closed-loop control system was 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 trajectory tracking performance with payload is improved by use of the proposed controller.

Paper Details

Date Published: 13 October 2008
PDF: 6 pages
Proc. SPIE 7129, Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration, 71291N (13 October 2008); doi: 10.1117/12.807503
Show Author Affiliations
Qiang Wu, Beijing Univ. of Aeronautics and Astronautics (China)
Juan Chen, Beijing Univ. of Aeronautics and Astronautics (China)
Zhiyong Tang, Beijing Univ. of Aeronautics and Astronautics (China)


Published in SPIE Proceedings Vol. 7129:
Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration

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