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.
Original language | English |
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Pages (from-to) | 43-51 |
Number of pages | 9 |
Journal | Neurocomputing |
Volume | 233 |
DOIs | |
State | Published - 12 Apr 2017 |
Keywords
- Adaptive control
- Inner regularization procedure
- Near-singularity condition
- Parallel platform
- Radio-telescope orientation
- Sliding mode control