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Super twisting controller for the position control of Stewart platform
P. Ramesh Kumar,
Published in Institute of Electrical and Electronics Engineers Inc.
2015
Pages: 624 - 629
Abstract
This paper proposes the application of a super twisting algorithm based control strategy for the position control of a Stewart platform. The conventional sliding mode controller is making use of a discontinuous feedback control, hence the control effort is discontinuous in nature. The discontinuity in feedback control induces the dangerous high frequency vibrations called chattering, which is highly undesirable for practical applications. The proposed super twisting controller is continuous in nature and the chattering is eliminated. The desired position of the platform has been achieved using the proposed method even in the presence of matched disturbances. The effectiveness of the proposed method has been demonstrated with the simulation results. © 2015 IEEE.
About the journal
Journal2015 International Conference on Advances in Computing, Communications and Informatics, ICACCI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.