Control of Stewart platform using adaptive smooth integral sliding mode algorithm

Area of Science:

• Robotics and Control Systems
• Mechanical Engineering

Background:

• Stewart platforms offer high dexterity, stiffness, and accuracy, leading to widespread applications.
• Existing control methods may face challenges with disturbances and control smoothness.

Purpose of the Study:

• To propose and validate novel adaptive controllers for Stewart platforms.
• To enhance control smoothness and robustness against disturbances.

Main Methods:

• Modification of the integral sliding mode algorithm.
• Integration of adaptive super-twisting control for smooth cumulative control.
• Development of an adaptive twisting smooth integral sliding mode controller (ATSISMC).

Main Results:

• The proposed adaptive controllers ensure smooth control action.
• Controller gains adapt to disturbance amplitudes, improving robustness.
• MATLAB simulations validate the efficacy of the ASTSISMC and ATSISMC controllers.

Conclusions:

• The novel adaptive controllers significantly improve Stewart platform performance.
• Smooth integral sliding mode control with adaptive super-twisting is effective.
• These advanced control strategies enhance the applicability of Stewart platforms.