DocumentCode
1647237
Title
Continuous Finite Time Control for Stewart Platform with Terminal Sliding Mode
Author
Dongya, Zhao ; Shaoyuan, Li ; Feng, Gao
Author_Institution
Shanghai Jiao Tong Univ., Shanghai
fYear
2007
Firstpage
27
Lastpage
30
Abstract
This paper presents a continuous finite time stability control method for Stewart Platform with terminal sliding mode. With considering the dynamics of legs of Stewart Platform as uncertainty, the sliding mode can be reached in a finite time then the position tracking error can converge to a residue set around zero in a finite time. Simulation demonstrates the effectiveness of this approach.
Keywords
continuous time systems; position control; stability; variable structure systems; Stewart platform; continuous finite time stability control; position tracking error; terminal sliding mode; Automation; Educational institutions; Leg; Mechanical engineering; Petroleum; Robots; Sliding mode control; Stability; Uncertainty; Vehicle dynamics; Finite Time Stability; Stewart Platform; Terminal Sliding Mode;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2007. CCC 2007. Chinese
Conference_Location
Hunan
Print_ISBN
978-7-81124-055-9
Electronic_ISBN
978-7-900719-22-5
Type
conf
DOI
10.1109/CHICC.2006.4347170
Filename
4347170
Link To Document