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
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;
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
DOI :
10.1109/CHICC.2006.4347170
