Load adaptive sliding mode control for 6-degree-of-freedom parallel robot system Stewart platform

Abstract

The Gough-Stewart platform, also known as the Stewart platform, is a six-degree-of-freedom parallel robot with a complex interaction structure. It is widely used in applications requiring high precision and fast response, such as vehicle simulation, automobile, ship, and boat, as well as aerospace and medical. As a result, dealing with load changes during operation might lead the system to lose its high accuracy when using dynamic-based control models. To address this issue, this work begins with employing sliding mode control, a commonly utilized method for controlling high-order nonlinear systems. Then, for estimating the moving platform's mass and moment of inertia, an adaptive load management strategy for the system is introduced. To objectively demonstrate the proposed control structure's effectiveness, simulations are performed on the quasi-physical, Simscape simulation platform, provided by MATLAB. The simulation results demonstrate the outweigh performance of the proposed adaptive structure.