Active Vibration Isolation for Stewart Platforms Using Adaptive Backstepping Sliding Mode Control

摘要

To solve the active vibration isolation problem for Stewart platforms, an adaptive backstepping sliding mode controller is designed in this paper. Firstly, the dynamic model is constructed for the Stewart platform. Then, 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 zero. Finally, the effectiveness of the proposed method is verified by a simulation example.