Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Design of Sliding Mode Controller with Sliding Perturbation Observer for a Robust Control of Stewart Platform Manipulator

스튜어트 플랫폼의 견실제어를 위한 슬라이딩 섭동 관측기를 갖는 슬라이딩 모드 제어기 개발

  • You, Ki-Sung (Dept.of Intelligent Mechanical Engineering, Busan National University) ;
  • Park, Min-Kyu (Dept.of Intelligent Mechanical Engineering, Busan National University) ;
  • Lee, Min-Cheol (Busan National University)
  • 유기성 (부산대학교 지능기계공학과) ;
  • 박민규 (부산대학교 지능기계공학과) ;
  • 이민철 (부산대학교 기계공학부)
  • Published : 2002.08.01
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Abstract

The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.

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References

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