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Avtomatika i Telemekhanika, 2017, Issue 7, Pages 57–75
(Mi at14831)
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This article is cited in 11 scientific papers (total in 11 papers)
Nonlinear Systems
Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform
S. Keshtkara, A. S. Poznyaka, E. Hernandezb, A. Oropezab a Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV), Mexico City, Mexico
b Higher School of Mechanics and Electrical Engineering (ESIME TICOMAN), Mexico City, Mexico
Abstract:
To provide a highly efficient control of nonlinear systems in the presence of nonmodeled dynamics and external perturbations, a new control law with feedback based on the sliding modes with an observer of the “Super-Twist” kind was proposed. For acceptable use of the continuous observer signal in the controller, presented were adaptive laws for adjustment of the control system parameters. Using the methods of Lyapunov function, system stability (convergence to a zone) was proved. This technique was proposed as an example of control and stabilization of the position of a parallel manipulator (Gough–Stewart platform). The presented mechanism with six degrees of freedom is used to control the secondary mirror of the “Large Millimeter Telescope Alfonso Serrano” situated in the state of Puebla, Mexico.
Keywords:
adaptive controller, sliding modes, state observer, Stewart platform, stability in zone.
Citation:
S. Keshtkar, A. S. Poznyak, E. Hernandez, A. Oropeza, “Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform”, Avtomat. i Telemekh., 2017, no. 7, 57–75; Autom. Remote Control, 78:7 (2017), 1218–1233
Linking options:
https://www.mathnet.ru/eng/at14831 https://www.mathnet.ru/eng/at/y2017/i7/p57
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Statistics & downloads: |
Abstract page: | 253 | Full-text PDF : | 52 | References: | 33 | First page: | 30 |
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