{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,15]],"date-time":"2025-03-15T04:02:43Z","timestamp":1742011363759,"version":"3.38.0"},"reference-count":27,"publisher":"IGI Global","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,10,1]]},"abstract":"<p>This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task space and the discontinuous switching controller part is computed in joint space and hence it is a hybrid of the two approaches. The hybrid implementation helps to reduce computation time and to achieve high performance in task space without the need to measure or estimate 6DOF task space positions. Effect of actuator friction, backlash and parameter variation due to loading have been studied and simulation results confirmed that the controller is robust and achieves better tracking accuracy than other types of sliding mode controllers and simple PID controller.<\/p>","DOI":"10.4018\/ijimr.2011100102","type":"journal-article","created":{"date-parts":[[2011,11,16]],"date-time":"2011-11-16T12:46:51Z","timestamp":1321447611000},"page":"19-43","source":"Crossref","is-referenced-by-count":1,"title":["High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error"],"prefix":"10.4018","volume":"1","author":[{"given":"Dereje","family":"Shiferaw","sequence":"first","affiliation":[{"name":"Indian Institute of Technology Roorkee and Graphic Era University, India"}]},{"given":"Anamika","family":"Jain","sequence":"additional","affiliation":[{"name":"Graphic Era University, India"}]},{"given":"R.","family":"Mitra","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology Roorkee, India"}]}],"member":"2432","reference":[{"key":"ijimr.2011100102-0","doi-asserted-by":"crossref","unstructured":"Beji, L., Abichou, A., & Pascal, M. (1998, May). Tracking control of a parallel robot in the task space. In Proceedings of the IEEE International Conference on Robotics & Automation, Leuven, Belgium (pp. 2309-2304).","DOI":"10.1109\/ROBOT.1998.680667"},{"key":"ijimr.2011100102-1","doi-asserted-by":"crossref","unstructured":"Chin, I.-H., & Li, C.-F. (2005, August 28-31). Smooth sliding mode tracking control of the Stewart platform. In Proceedings of the IEEE Conference on Control Applications, Toronto, ON, Canada (pp. 43-48).","DOI":"10.1109\/CCA.2005.1507098"},{"key":"ijimr.2011100102-2","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(99)00006-3"},{"key":"ijimr.2011100102-3","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2007.12.002"},{"key":"ijimr.2011100102-4","unstructured":"Dereje, S., & Mitra, R. (2010). Fuzzy logic tuned PID controller for Stewart platform manipulator. In Proceedings of the International Conference on Computer Applications in Electrical Engineering and Recent Advances, Roorkee, India (pp. 272-257)."},{"key":"ijimr.2011100102-5","doi-asserted-by":"publisher","DOI":"10.1504\/IJCISTUDIES.2010.034888"},{"issue":"5","key":"ijimr.2011100102-6","first-page":"689","article-title":"Fully adaptive feedforward feedback synchronized tracking control for Gough-Stewart platform systems. International Journal of Control","volume":"6","author":"Z.Dongya","year":"2008","journal-title":"Automation and Systems"},{"key":"ijimr.2011100102-7","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES1137"},{"key":"ijimr.2011100102-8","unstructured":"Flavien, P., Nicolas, A., Philippe, M., & Khalil, W. (2006). Vision based computed torque controller for parallel robots. In Proceedings of the IEEE 32 Annual Conference on Industrial Electronics (pp. 3851-3856)."},{"key":"ijimr.2011100102-9","doi-asserted-by":"crossref","unstructured":"Ghobakhloo, A., Eghtesad, M., & Azadi, M. (2006). Position control of Gough-Stewart-Gough platform using inverse dynamics with full dynamics. In Proceedings of the IEEE 9th International Workshop on Advanced Motion Control (pp. 50-55).","DOI":"10.1109\/AMC.2006.1631631"},{"key":"ijimr.2011100102-10","doi-asserted-by":"publisher","DOI":"10.1109\/87.865853"},{"key":"ijimr.2011100102-11","doi-asserted-by":"publisher","DOI":"10.1243\/095440605X32075"},{"key":"ijimr.2011100102-12","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2005.04.014"},{"key":"ijimr.2011100102-13","doi-asserted-by":"publisher","DOI":"10.1109\/41.184817"},{"key":"ijimr.2011100102-14","doi-asserted-by":"crossref","unstructured":"Iqbal, S., & Bhatti, A. I. (2007). Robust sliding-mode controller design for a Stewart platform. In Proceedings of the International Bhurban Conference on Applied Sciences & Technology, Islamabad, Pakistan (pp. 155-160).","DOI":"10.1109\/IBCAST.2007.4379924"},{"key":"ijimr.2011100102-15","doi-asserted-by":"crossref","unstructured":"Iqbal, S., & Bhatti, A. I. (2008). Dynamic analysis and robust control design for Gough-Stewart platform with moving payloads. In Proceedings of the 17th World Congress the International Federation of Automatic Control, Seoul, Korea (pp. 5324-5329).","DOI":"10.3182\/20080706-5-KR-1001.00897"},{"key":"ijimr.2011100102-16","doi-asserted-by":"crossref","unstructured":"Li, D., & Salcudean, S. E. (1997, April). Modeling, simulation, and control of a hydraulic Stewart platform. In Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM (pp. 3360-3366).","DOI":"10.1109\/ROBOT.1997.606801"},{"journal-title":"Parallel robots","year":"2006","author":"J. P.Merlet","key":"ijimr.2011100102-17"},{"key":"ijimr.2011100102-18","unstructured":"Nag, I.-K., & Chong, W.-L. (1998). High speed tracking control of Gough-Stewart platform manipulator via enhanced sliding model controller. In Proceedings of the International Conference on Robotics and Automation, Leuven, Belgium (pp. 2716-2721)."},{"key":"ijimr.2011100102-19","unstructured":"Negash, D. S., & Mitra, R. (2010). Integral sliding mode control for trajectory tracking control of Stewart platform manipulator. In Proceedings of the IEEE-ICIIS International Conference on Industrial and Information Systems, Surathkal, India (pp. 650-654)."},{"key":"ijimr.2011100102-20","first-page":"869","article-title":"Efficient computation of forward kinematics and Jacobian matrix of a Gough-Stewart platform based manipulator. In","volume":"1","author":"C. C.Niguyen","year":"1997","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation"},{"key":"ijimr.2011100102-21","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(02)00033-8"},{"key":"ijimr.2011100102-22","doi-asserted-by":"publisher","DOI":"10.1504\/IJMIC.2006.008647"},{"key":"ijimr.2011100102-23","doi-asserted-by":"publisher","DOI":"10.1109\/70.928562"},{"key":"ijimr.2011100102-24","doi-asserted-by":"publisher","DOI":"10.1002\/1097-4563(200007)17:7<375::AID-ROB3>3.0.CO;2-7"},{"key":"ijimr.2011100102-25","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.824315"},{"key":"ijimr.2011100102-26","unstructured":"Yung, T., Yu-Shin, C., & Shih-Ming, W. (1999). Task space control algorithm for Gough-Stewart platform. In Proceedings of the 38th Conference on Decision and Control, Phoenix, AZ (pp. 3857-3862)."}],"container-title":["International Journal of Intelligent Mechatronics and Robotics"],"original-title":[],"language":"ng","link":[{"URL":"https:\/\/www.igi-global.com\/viewtitle.aspx?TitleId=61155","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,14]],"date-time":"2025-03-14T03:32:03Z","timestamp":1741923123000},"score":1,"resource":{"primary":{"URL":"https:\/\/services.igi-global.com\/resolvedoi\/resolve.aspx?doi=10.4018\/ijimr.2011100102"}},"subtitle":[""],"short-title":[],"issued":{"date-parts":[[2011,10,1]]},"references-count":27,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2011,10]]}},"URL":"https:\/\/doi.org\/10.4018\/ijimr.2011100102","relation":{},"ISSN":["2156-1664","2156-1656"],"issn-type":[{"type":"print","value":"2156-1664"},{"type":"electronic","value":"2156-1656"}],"subject":[],"published":{"date-parts":[[2011,10,1]]}}}