Open AccessNonlinear Robust Control of a Stewart Parallel Robot
Author(s) -
Liang Chen,
Hui Sun,
Qingxuan Jia,
Tao Yu,
Wei Zhao
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1550/4/042040
Subject(s) - control theory (sociology) , robustness (evolution) , sliding mode control , stewart platform , nonlinear system , lyapunov stability , robot , adaptability , computer science , control system , lyapunov function , controller (irrigation) , parallel manipulator , control engineering , engineering , control (management) , kinematics , artificial intelligence , ecology , agronomy , biochemistry , chemistry , physics , classical mechanics , quantum mechanics , biology , electrical engineering , gene
In this paper, the control problem of a Stewart parallel robot is investigated, and a sliding mode control method based on self-tuning sliding mode disturbance compensator and double power reaching law is presented. The presented control method can realize fast regulation of a Stewart parallel robot system, and has good robustness and adaptability towards the system uncertainties. The design of a self-tuning sliding mode disturbance compensator is included in the presented control method. The designed sliding mode disturbance compensator does not need the upper bound information of the system uncertainties, and can accurately estimate the system uncertainties. The double power reaching law can not only ensure fast convergence of the system states, but also maintain the continuity of the sliding mode controller. Lyapunov stability theory is adopted to prove the stability of the closed-loop control system, and the validity of the presented control method is verified by a numerical simulation test.