Position stabilization of a Stewart platform: High-order sliding mode observers based approach

The problem of robust exact control for a Stewart platform with smooth bounded unknown inputs is considered. This platform has three degrees of freedom and it is used as a remote surveillance device. We consider high-order sliding mode observers to provide both theoretical exact observation and unknown input identification. In this paper, a methodology is proposed to select the most adequate control strategy for unknown external perturbation identification. The results obtained are illustrated by simulations.