Integral sliding mode controller for trajectory tracking control of Stewart platform manipulator

Abstract

Conventional sliding mode controllers have been successfully applied to control various types systems including the Stewart platform manipulator. But chattering, lack of robustness in the reaching phase and sensitivity to unmatched uncertainty are the basic problems which delayed their practical implementations. To avoid the non robust reaching phase to compensate unmatched uncertainties, integral sliding mode controllers have been proposed but only SISO system examples have been tested. Hence in this paper, MIMO implementation of integral sliding mode controller is tested using a 6 DOF Stewart platform manipulator. The integral sliding mode controller is implemented using MATLAB simulation and the result is compared with PD and conventional sliding mode controller. It was found that the integral sliding mode controller performs better in avoiding uncertainties due to load variation and actuator friction.