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    This study introduces a new prescribed-performance-controller-based equivalent-input-disturbance (PEID) approach to improve disturbance rejection in Stewart platforms. The PEID method guarantees fast and precise disturbance estimation error convergence for enhanced control performance.

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    Area of Science:

    • Robotics
    • Control Systems Engineering
    • Mechatronics

    Background:

    • Stewart platforms are complex robotic systems susceptible to external disturbances.
    • Effective disturbance rejection is crucial for maintaining precision and stability in Stewart platform operations.
    • Existing control methods may not offer guaranteed performance bounds or rapid convergence for disturbance estimation.

    Purpose of the Study:

    • To introduce and validate a novel prescribed-performance-controller-based equivalent-input-disturbance (PEID) approach.
    • To enhance the disturbance-rejection capabilities of Stewart platforms.
    • To ensure disturbance-estimation error converges within a prescribed time and to a user-defined small bound.

    Main Methods:

    • Development of a PEID control strategy tailored for Stewart platforms.
    • Stability analysis using a subsystem decomposition and barrier Lyapunov functions.
    • Design of a compensator and an algorithm for state feedback and observer gains.
    • Experimental validation on a physical Stewart platform.

    Main Results:

    • The PEID approach ensures disturbance-estimation error converges to a pre-defined bounded region within a prescribed time.
    • The control system demonstrates superior disturbance-rejection performance compared to existing methods.
    • Experimental results confirm the effectiveness and practical applicability of the PEID method.

    Conclusions:

    • The proposed PEID approach significantly improves disturbance rejection in Stewart platforms.
    • Prescribed performance for disturbance estimation error is achievable, offering enhanced control precision.
    • The PEID method provides a robust and effective solution for controlling Stewart platforms in the presence of disturbances.