Adaptive Position Tracking Control of Uncertain Stewart Platform

Jiahao Wang; Zongyu Zuo; Kewei Xia; Yao Zou

doi:10.1109/CFASTA57821.2023.10243354

Adaptive Position Tracking Control of Uncertain Stewart Platform

Jiahao Wang^*, Zongyu Zuo, Kewei Xia, Yao Zou

^*Corresponding author for this work

Advanced Research Institute of Multidisciplinary Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes a parameter adaptive sliding mode control algorithm to address the generalized position tracking control issue for a Stewart Platform in the presence of parametric uncertainties and external disturbances. First, nonlinear dynamic equations of the Stewart Platform are extracted by the Lagrange method. To improve the performance of the conventional sliding mode control method, the parameter adaptive technique is applied to estimate the switching gain, which not only reduces the chattering phenomenon, but also avoids the conservatism of the controller. A rigorous stability analysis is given to prove that the tracking errors are uniformly ultimately bounded by Lyapunov stability theory. Numerical simulation results verify the effectiveness of the proposed control algorithm.

Original language	English
Title of host publication	Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	815-821
Number of pages	7
ISBN (Electronic)	9798350332162
DOIs	https://doi.org/10.1109/CFASTA57821.2023.10243354
Publication status	Published - 2023
Event	2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023 - Qingdao, China Duration: 14 Jul 2023 → 16 Jul 2023

Publication series

Name	Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

Conference

Conference	2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
Country/Territory	China
City	Qingdao
Period	14/07/23 → 16/07/23

Keywords

Parameter Adaptation
Sigmoid Function
Sliding Mode Control
Stewart Platform

Access to Document

10.1109/CFASTA57821.2023.10243354

Cite this

Wang, J., Zuo, Z., Xia, K., & Zou, Y. (2023). Adaptive Position Tracking Control of Uncertain Stewart Platform. In Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023 (pp. 815-821). (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CFASTA57821.2023.10243354

Wang, Jiahao ; Zuo, Zongyu ; Xia, Kewei et al. / Adaptive Position Tracking Control of Uncertain Stewart Platform. Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 815-821 (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023).

@inproceedings{086b1e7dedcc4be19c5cccc65eb719bc,

title = "Adaptive Position Tracking Control of Uncertain Stewart Platform",

abstract = "This paper proposes a parameter adaptive sliding mode control algorithm to address the generalized position tracking control issue for a Stewart Platform in the presence of parametric uncertainties and external disturbances. First, nonlinear dynamic equations of the Stewart Platform are extracted by the Lagrange method. To improve the performance of the conventional sliding mode control method, the parameter adaptive technique is applied to estimate the switching gain, which not only reduces the chattering phenomenon, but also avoids the conservatism of the controller. A rigorous stability analysis is given to prove that the tracking errors are uniformly ultimately bounded by Lyapunov stability theory. Numerical simulation results verify the effectiveness of the proposed control algorithm.",

keywords = "Parameter Adaptation, Sigmoid Function, Sliding Mode Control, Stewart Platform",

author = "Jiahao Wang and Zongyu Zuo and Kewei Xia and Yao Zou",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023 ; Conference date: 14-07-2023 Through 16-07-2023",

year = "2023",

doi = "10.1109/CFASTA57821.2023.10243354",

language = "English",

series = "Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "815--821",

booktitle = "Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023",

address = "United States",

}

Wang, J, Zuo, Z, Xia, K & Zou, Y 2023, Adaptive Position Tracking Control of Uncertain Stewart Platform. in Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023, Institute of Electrical and Electronics Engineers Inc., pp. 815-821, 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023, Qingdao, China, 14/07/23. https://doi.org/10.1109/CFASTA57821.2023.10243354

Adaptive Position Tracking Control of Uncertain Stewart Platform. / Wang, Jiahao; Zuo, Zongyu; Xia, Kewei et al.
Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 815-821 (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive Position Tracking Control of Uncertain Stewart Platform

AU - Wang, Jiahao

AU - Zuo, Zongyu

AU - Xia, Kewei

AU - Zou, Yao

PY - 2023

Y1 - 2023

N2 - This paper proposes a parameter adaptive sliding mode control algorithm to address the generalized position tracking control issue for a Stewart Platform in the presence of parametric uncertainties and external disturbances. First, nonlinear dynamic equations of the Stewart Platform are extracted by the Lagrange method. To improve the performance of the conventional sliding mode control method, the parameter adaptive technique is applied to estimate the switching gain, which not only reduces the chattering phenomenon, but also avoids the conservatism of the controller. A rigorous stability analysis is given to prove that the tracking errors are uniformly ultimately bounded by Lyapunov stability theory. Numerical simulation results verify the effectiveness of the proposed control algorithm.

AB - This paper proposes a parameter adaptive sliding mode control algorithm to address the generalized position tracking control issue for a Stewart Platform in the presence of parametric uncertainties and external disturbances. First, nonlinear dynamic equations of the Stewart Platform are extracted by the Lagrange method. To improve the performance of the conventional sliding mode control method, the parameter adaptive technique is applied to estimate the switching gain, which not only reduces the chattering phenomenon, but also avoids the conservatism of the controller. A rigorous stability analysis is given to prove that the tracking errors are uniformly ultimately bounded by Lyapunov stability theory. Numerical simulation results verify the effectiveness of the proposed control algorithm.

KW - Parameter Adaptation

KW - Sigmoid Function

KW - Sliding Mode Control

KW - Stewart Platform

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U2 - 10.1109/CFASTA57821.2023.10243354

DO - 10.1109/CFASTA57821.2023.10243354

M3 - Conference contribution

AN - SCOPUS:85173608949

T3 - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

SP - 815

EP - 821

BT - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023

Y2 - 14 July 2023 through 16 July 2023

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Wang J, Zuo Z, Xia K, Zou Y. Adaptive Position Tracking Control of Uncertain Stewart Platform. In Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 815-821. (Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023). doi: 10.1109/CFASTA57821.2023.10243354

Adaptive Position Tracking Control of Uncertain Stewart Platform

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