Name
Abstract | ||
|---|---|---|
In this work a parallel manipulator (Stewart platform) is used to align and maintain the position of the secondary mirror of a radio-telescope. The six degrees of freedom platform gives the significant advantage of reaching the maximum performance for the positioning tasks. The near-singularity condition of the platform is analyzed and is handled by implementation of a new control law based on sliding mode with inner regularization procedure. Herein, the finite-time convergence of closed-loop system derived from designed control in the presence of external as well as internal disturbances/uncertainties is proved. The effectiveness of the proposed controller is verified via numerical simulation. We show that Sliding Mode Control with a gain matrix adaptation based on the Equivalent Control method can significantly reduce the undesirable chattering effect an therefore avoid the possible damages. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1016/j.neucom.2016.08.116 | Neurocomputing |
Keywords | Field | DocType |
Sliding mode control,Adaptive control,Near-singularity condition,Inner regularization procedure,Parallel platform,Radio-telescope orientation | Parallel manipulator,Control theory,Computer simulation,Computer science,Six degrees of freedom,Secondary mirror,Artificial intelligence,Adaptive control,Stewart platform,Machine learning,Sliding mode control | Journal |
Volume | Issue | ISSN |
233 | C | 0925-2312 |
Citations | PageRank | References |
1 | 0.36 | 11 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sajjad Keshtkar | 1 | 1 | 1.72 |
| Eusebio E. Hernandez | 2 | 1 | 3.41 |
| Armando Oropeza | 3 | 1 | 0.70 |
| Alexander S. Poznyak | 4 | 358 | 63.68 |