Smooth integral sliding mode controller for the position control of Stewart platform

Area of Science:

• Robotics
• Control Systems Engineering
• Mechatronics

Background:

• Conventional integral sliding mode controllers (ISMC) exhibit discontinuous control, leading to undesirable chattering.
• Chattering in control systems causes significant wear and tear on mechanical actuators, limiting practical applications.
• Stewart platforms require precise and stable position control for effective operation.

Purpose of the Study:

• To propose a novel continuous control algorithm for Stewart platform position control.
• To mitigate the chattering phenomenon associated with conventional ISMC.
• To enhance the robustness and practicality of Stewart platform controllers.

Main Methods:

• Modification of the existing integral sliding mode control law.
• Replacement of the discontinuous feedback component with a continuous modified twisting control.
• Development of a controller combining two continuous control strategies.

Main Results:

• The proposed controller demonstrates continuous behavior, effectively suppressing chattering.
• The Stewart platform achieved its desired position accurately, even under matched disturbances.
• Simulation results validated the effectiveness and superior performance of the novel control strategy.

Conclusions:

• The developed continuous modified twisting control offers a viable solution for practical Stewart platform applications.
• This approach enhances control system reliability by eliminating actuator wear caused by chattering.
• The proposed algorithm represents a significant advancement in precise and robust motion control for parallel robotic systems.