Integral sliding mode controller for trajectory tracking control of Stewart platform manipulator
Conventional sliding mode controllers have been successfully applied to control various types systems including the Stewart platform manipulator. But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical imp...
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| creator | Negash, Dereje Shiferaw Mitra, R |
| description | Conventional sliding mode controllers have been successfully applied to control various types systems including the Stewart platform manipulator. But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical implementations. To avoid the non robust reaching phase to compensate unmatched uncertainties, integral sliding mode controllers have been proposed but only SISO system examples have been tested. Hence in this paper, MIMO implementation of integral sliding mode controller is tested using a 6 DOF Stewart platform manipulator. The integral sliding mode controller is implemented using MATLAB simulation and the result is compared with PD and conventional sliding mode controller. It was found that the integral sliding mode controller performs better in avoiding uncertainties due to load variation and actuator friction. |
| doi_str_mv | 10.1109/ICIINFS.2010.5578628 |
| format | Conference Proceeding |
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But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical implementations. To avoid the non robust reaching phase to compensate unmatched uncertainties, integral sliding mode controllers have been proposed but only SISO system examples have been tested. Hence in this paper, MIMO implementation of integral sliding mode controller is tested using a 6 DOF Stewart platform manipulator. The integral sliding mode controller is implemented using MATLAB simulation and the result is compared with PD and conventional sliding mode controller. 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It was found that the integral sliding mode controller performs better in avoiding uncertainties due to load variation and actuator friction.</description><subject>chattering</subject><subject>classical sliding mode controller</subject><subject>Control systems</subject><subject>integral sliding mode controller</subject><subject>Jacobian matrices</subject><subject>Joints</subject><subject>Leg</subject><subject>Manipulator dynamics</subject><subject>Stewart platform manipulator</subject><subject>Uncertainty</subject><issn>2164-7011</issn><issn>2690-3423</issn><isbn>9781424466511</isbn><isbn>1424466512</isbn><isbn>9781424466535</isbn><isbn>9781424466528</isbn><isbn>1424466520</isbn><isbn>1424466539</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkM1OwzAQhM2fRFX6BHDwC6TsOrZjH1FFS6QKDu29bBKnSkniyjFCfXtS0Qunndn5tNIsY08Ic0Swz_kiz9-Xm7mAcaNUZrQwV2xmM4NSSKm1StU1mwhtIUmlSG_-ZYi3Y4ZaJhkg3rPZMBwAQMDotJiwz7yPbh-o5UPbVE2_552vHC99H4NvWxd47QOPgQ6ujD6czrL8OnMXhPuab6L7oRD5saU44h3vqG-O36Pz4YHd1dQObnaZU7Zdvm4Xb8n6Y5UvXtZJYyEmtdFFTRVCmmkQ0mqyYA0q5worqrEWVsbUIKwpkUqHZQGKSKUVFRLOYsoe_842zrndMTQdhdPu8q70F4tiXJM</recordid><startdate>201007</startdate><enddate>201007</enddate><creator>Negash, Dereje Shiferaw</creator><creator>Mitra, R</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201007</creationdate><title>Integral sliding mode controller for trajectory tracking control of Stewart platform manipulator</title><author>Negash, Dereje Shiferaw ; Mitra, R</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-f86bfad1037602496a909815eeb92d3421d88f0298c1ace1cb05aa53dab40aa53</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>chattering</topic><topic>classical sliding mode controller</topic><topic>Control systems</topic><topic>integral sliding mode controller</topic><topic>Jacobian matrices</topic><topic>Joints</topic><topic>Leg</topic><topic>Manipulator dynamics</topic><topic>Stewart platform manipulator</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Negash, Dereje Shiferaw</creatorcontrib><creatorcontrib>Mitra, R</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Negash, Dereje Shiferaw</au><au>Mitra, R</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Integral sliding mode controller for trajectory tracking control of Stewart platform manipulator</atitle><btitle>2010 5th International Conference on Industrial and Information Systems</btitle><stitle>ICIINFS</stitle><date>2010-07</date><risdate>2010</risdate><spage>650</spage><epage>654</epage><pages>650-654</pages><issn>2164-7011</issn><eissn>2690-3423</eissn><isbn>9781424466511</isbn><isbn>1424466512</isbn><eisbn>9781424466535</eisbn><eisbn>9781424466528</eisbn><eisbn>1424466520</eisbn><eisbn>1424466539</eisbn><abstract>Conventional sliding mode controllers have been successfully applied to control various types systems including the Stewart platform manipulator. But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical implementations. To avoid the non robust reaching phase to compensate unmatched uncertainties, integral sliding mode controllers have been proposed but only SISO system examples have been tested. Hence in this paper, MIMO implementation of integral sliding mode controller is tested using a 6 DOF Stewart platform manipulator. The integral sliding mode controller is implemented using MATLAB simulation and the result is compared with PD and conventional sliding mode controller. It was found that the integral sliding mode controller performs better in avoiding uncertainties due to load variation and actuator friction.</abstract><pub>IEEE</pub><doi>10.1109/ICIINFS.2010.5578628</doi><tpages>5</tpages></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | chattering classical sliding mode controller Control systems integral sliding mode controller Jacobian matrices Joints Leg Manipulator dynamics Stewart platform manipulator Uncertainty |
| title | Integral sliding mode controller for trajectory tracking control of Stewart platform manipulator |
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