In this paper, a backtepping-nonsingular fast terminal sliding mode (NFTSM) controller is proposed for active vibration isolation problem of cubic configuration Stewart platform, so that to ensure the system error can converge to zero in finite time. Compared with traditional linear sliding mode, the proposed control scheme can improve the robustness and the anti-disturbance capacity of the system. With various disturbance and parameter uncertainties taken into consideration, the numerical simulation results reveal the validity of the proposed control approach.


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    Title :

    Active vibration isolation for Stewart platform using backstepping and NFTSM control


    Contributors:
    Guangfu Ma (author) / Yuhan Liu (author) / Yanchao Sun (author) / Jingjing Ma (author)


    Publication date :

    2016-08-01


    Size :

    1105813 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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