Control of Stewart platform using adaptive smooth integral sliding mode algorithm

The Stewart platform, renowned for its remarkable dexterity, high stiffness, and positioning accuracy, is increasingly employed in a wide range of applications. For the Stewart platform, a novel adaptive super-twisting based smooth integral sliding mode controller (ASTSISMC) is suggested through modifications to the integral sliding mode algorithm. Specifically, the discontinuous portion of the integral sliding mode control law is replaced by the super-twisting control to ensure smooth cumulative control. Additionally, the gains associated with the super-twisting control law are made adaptive, or they are made to vary in accordance with the amplitude of the disturbances. As an alternative to the previous one, an adaptive twisting smooth integral sliding mode controller (ATSISMC) is also suggested for the Stewart platform. The efficacy of the newly proposed controllers is validated using the results obtained from MATLAB simulation.