Paper Info
Title
An Adaptive Backstepping Terminal Sliding Mode Control for Stewart Platforms
Abstract
This paper presents an adaptive backstepping terminal sliding mode controller for tracking control of Stewart platforms. By designing an integral nongsingular fast terminal sliding surface, the system can achieve finite-time convergence, small tracking errors, high robustness over un-modeled dynamics, and time-varying external disturbances. In addition, the backstepping control law with an adaptive gain based on the Lyapunov stablity theory guarantees system’s globally asymptotic stability without precise knowledge of the upper bound of the uncertainty. For the control design, the robot’s dynamic model was first established and formulated in the active joint space. The effectiveness of the controller is verified through simulation in comparison with a computed-torque controller. The simulation results show that the proposed controller has a superior performance of small tracking errors to that of a computed torque method, and it is robust to model parameter variations (up to 30%) and time-varying uncertainties.
Year
DOI
Venue
2019
10.1109/URAI.2019.8768656
2019 16th International Conference on Ubiquitous Robots (UR)
Keywords
Field
DocType
Lyapunov stability theory,control design,computed-torque controller,adaptive backstepping terminal sliding mode control,Stewart platforms,integral nonsingular fast terminal sliding surface,finite-time convergence,time-varying external disturbances,robot dynamic model,tracking control,robustness,asymptotic stability,manipulator
Lyapunov function,Backstepping,Control theory,Torque,Control theory,Computer science,Robustness (computer science),Exponential stability,Terminal sliding mode,Sliding mode control
Conference
ISSN
ISBN
Citations 
2325-033X
978-1-7281-3233-4
0
PageRank 
References 
Authors
0.34
8
5
Name
Order
Citations
PageRank
Tuan Anh Luong101.69
Sungwon Seo202.70
Ja Choon Koo3448.70
Hyouk Ryeol Choi433760.51
Hyungpil Moon517538.32