Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform

S. Keshtkar, A. S. Poznyak, E. Hernandez, A. Oropeza

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

© 2017, Pleiades Publishing, Ltd. 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.
Original languageAmerican English
Pages (from-to)1218-1233
Number of pages1094
JournalAutomation and Remote Control
DOIs
StatePublished - 1 Jul 2017
Externally publishedYes

Fingerprint

Telescopes
Mexico
Controllers
Lyapunov functions
System stability
Manipulators
Nonlinear systems
Mirrors
Stabilization
Feedback
Control systems

Cite this

@article{acc144ac66b944b989ba61046467bd05,
title = "Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform",
abstract = "{\circledC} 2017, Pleiades Publishing, Ltd. 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.",
author = "S. Keshtkar and Poznyak, {A. S.} and E. Hernandez and A. Oropeza",
year = "2017",
month = "7",
day = "1",
doi = "10.1134/S0005117917070049",
language = "American English",
pages = "1218--1233",
journal = "Automation and Remote Control",
issn = "0005-1179",
publisher = "Pleiades Publishing",

}

Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform. / Keshtkar, S.; Poznyak, A. S.; Hernandez, E.; Oropeza, A.

In: Automation and Remote Control, 01.07.2017, p. 1218-1233.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Adaptive sliding-mode controller based on the “Super-Twist” state observer for control of the Stewart platform

AU - Keshtkar, S.

AU - Poznyak, A. S.

AU - Hernandez, E.

AU - Oropeza, A.

PY - 2017/7/1

Y1 - 2017/7/1

N2 - © 2017, Pleiades Publishing, Ltd. 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.

AB - © 2017, Pleiades Publishing, Ltd. 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.

UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85025082412&origin=inward

UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85025082412&origin=inward

U2 - 10.1134/S0005117917070049

DO - 10.1134/S0005117917070049

M3 - Article

SP - 1218

EP - 1233

JO - Automation and Remote Control

JF - Automation and Remote Control

SN - 0005-1179

ER -