This paper presents a technique to control the Stewart platform using Higher Order sliding Mode(HOSM). For a given position of the platform, the leg lengths are estimated using inverse kinematics and the corresponding leg velocities are estimated in finite time using a super twisting observer. The desired position of the platform has been achieved in finite time using a higher order sliding mode controller. The effectiveness of this control technique has been proved with simulation results. © 2012 IEEE.

Bijnan Bandyopadhyay

Department of Electrical Engineering

IIT Jodhpur

P.R. Kumar

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