Active Vibration Isolation for Stewart Platforms Using Adaptive Backstepping Sliding Mode Control
作者单位：Harbin Institute of Technology Shanghai Space Intelligent Control Laboratory Shanghai Aerospace Control Technology Institute
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 0825[工学-航空宇航科学与技术]
基 金：supported by Shenzhen Municipal Basic Research Project for Discipline Layout with Project No.JCYJ20170413112722597 National Natural Science Foundation of China under Grant No.61603111 Shenzhen Municipal Project for Basic Research with Project No.JCYJ20170307150952660,and by Shenzhen Municipal Project for Basic Research with Project No.JCYJ20170307150227897
关 键 词：Active vibration isolation Adaptive backstepping sliding mode Stewart platform
摘 要：To solve the active vibration isolation problem for Stewart platforms,an adaptive backstepping sliding mode controller is designed in this ***,the dynamic model is constructed for the Stewart ***,the dynamics is decoupled by using a simultaneous diagonization,and an adaptive backstepping sliding mode controller is designed such that the closed-loop system is stable and the system error can converge to ***,the effectiveness of the proposed method is verified by a simulation example.