Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform

Keshtkar, Sajjad; Poznyak, Alexander S.; Oropeza, Armando

doi:10.1134/s0005117917070049

Cited by 13 publications

(5 citation statements)

References 7 publications

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“…(6), (7), and (10), expressed in Section 3, the unit screw iu $ of each joint in the absolute coordinate system, which consists of position 0 i r and posture i e , could be obtained via an iterative procedure. And the solved kinematic parameters, which are expressed in screw form, can be directly employed in establishing the static equations based on Equation (26).…”

Section: Statics Of a Series Kinematic Chainmentioning

confidence: 99%

“…Galvan-Pozos et al, developed an energy harvester from waves using the Gough-Stewart platform [5]. There are other design concepts, such as floating marine platforms [6], the position-control mechanism of the secondary mirror in radio telescopes [7], and material handling and characterization machines [8]. The kinematics and statics of the Gough-Stewart platform have become crucial areas of research due to its application potential.…”

Section: Introductionmentioning

confidence: 99%

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Kinematics and Statics of the Gough-Stewart Platform

Zhao,

Sun,

Wei

2023

Applied Sciences

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This paper presents an algorithm for the kinematics and statics analysis of a Gough–Stewart platform. Through defining the velocity screw, the relative angular and linear velocities of a single rigid body can be expressed as a single vector. The velocity screw equations of various mechanisms are deduced in detail, the forward and inverse kinematics of a parallel mechanism can be solved through the velocity screw equation. Similarly, the definition of the force screw allows all constraint forces and torques of a single rigid body to be expressed using a single vector, and the static screw equation can be used to solve the forward and inverse statics of a parallel mechanism in one coordinate system. The advantage of this approach is that kinematics and statics modeling are unified in screw coordinates because the kinematic parameters in screw form can be directly employed in statics modeling. The results of the kinematics and statics analysis of the Gough-Stewart platform validate this method. This algorithm is easy to compute and program with high efficiency, and it can also be applied to any other spatial, complex multi-rigid-body systems.

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Section: Statics Of a Series Kinematic Chainmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematics and Statics of the Gough-Stewart Platform

Zhao,

Sun,

Wei

2023

Applied Sciences

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“…The theory of graphs is also used in the study of the behavior [37] and dynamic analysis [38] of a Stewart platform. Optimization problems for the Stewart platforms are solved in [39][40][41][42][43][44][45][46].…”

Section: Introductionmentioning

confidence: 99%

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

et al. 2022

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In this paper we consider two situations. In the first, all kinematic chains are elastic, while the second situation is characterized by one rigid kinematic chain, with the rest of them being elastic. In addition, the kinematic joints are considered to be rigid. The calculations are performed using the screw coordinates. For the free vibrations of the rigid solid we determined the rigidity matrix and the eigenpulsations in both cases. It was proved that the results in the second case cannot be considered as limits for the results of the first situation, putting infinite values for the elements of the rigidity matrix of one kinematic chain. We also developed the theory for the forced vibrations of the system. A numerical application is considered and a great variety of cases are developed and discussed. The results obtained for the forced vibrations are presented and discussed. The paper combines elastic and rigid kinematic chains, as well as general configurations of the kinematic chains. The method presented here may be used for any number of kinematic chains, no matter if the structure is symmetrical or asymmetrical.

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“…It is widely used in the field of robot control; however, the inevitable chattering effect that occurs in the process of a switching sliding surface influences the control performance of the system [19]. [20] proposed an adaptive sliding-mode controller based on the "Super-Twist" state observer (ASMC), the ASMC can provide a highly efficient control of nonlinear systems in the presence of nonmodeled dynamics and external perturbations. [21] proposed a sliding mode adaptive neural network tracking controller (SMANNC), the SMANNC can achieve a stable closed-loop system for the trajectory-tracking control of a mobile robot with unknown nonlinear dynamics.…”

Section: Introductionmentioning

confidence: 99%

Back-Stepping Fuzzy Adaptive Sliding Mode Trajectory Tracking Control for Wall-Climbing Robot

Lai¹

2019

JCP

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：To improve the robustness and control precision of trajectory tracking for the four-wheel-driven wall-climbing robot, a novel back-stepping adaptive fuzzy sliding mode control (BFASMC) is proposed in the paper. Firstly, in order to make the tracking error between the actual trajectory and the reference trajectory of the WCR approach zero, the kinematic controller is designed based on the back-stepping method. Then, the output of the kinematic controller is used as the auxiliary speed input of the dynamic controller. To reduce chattering and restrain the uncertain parameters of the WCR, an adaptive control and a fuzzy control are introduced into a back-stepping sliding mode control (BSMC) to form the proposed method. Finally, simulation is conducted to track the straight line and circle. The results show that the proposed method improves the control precision and stability, and reduces the chattering in the process of switching sliding surfaces effectively.

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Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform

Cited by 13 publications

References 7 publications

Kinematics and Statics of the Gough-Stewart Platform

Kinematics and Statics of the Gough-Stewart Platform

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

Back-Stepping Fuzzy Adaptive Sliding Mode Trajectory Tracking Control for Wall-Climbing Robot

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