This paper presents a technique to control the Stewart platform using a Smooth Second Order sliding Mode (SSOSM) Controller based on modified 'twisting' algorithm for relative degree two systems. For a given position of the platform, the leg lengths and leg velocities are estimated using inverse kinematics. The desired position of the platform has been achieved with a smooth control using a Smooth Second Order Sliding Mode Controller. The results show that control input is free from chattering. The effectiveness of this control technique has been proved with simulation results. © 2013 IEEE.

Bijnan Bandyopadhyay

Department of Electrical Engineering

IIT Jodhpur

P.R. Kumar

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