A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking
The Gough-Stewart Platform, often referred to simply as the Stewart Platform, is a parallel mechanical system with six degrees of freedom, which is widely employed in simulation and precise applications. This study gives a thorough Lagrangian-based model of the Stewart Platform, emphasizing its dyna...
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| Language: | English |
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Elsevier
2025-03-01
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| Series: | Results in Engineering |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2590123024021157 |
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| author | Duc Cuong Vu Tung Lam Nguyen Danh Huy Nguyen |
| author_facet | Duc Cuong Vu Tung Lam Nguyen Danh Huy Nguyen |
| author_sort | Duc Cuong Vu |
| collection | DOAJ |
| description | The Gough-Stewart Platform, often referred to simply as the Stewart Platform, is a parallel mechanical system with six degrees of freedom, which is widely employed in simulation and precise applications. This study gives a thorough Lagrangian-based model of the Stewart Platform, emphasizing its dynamic behavior and control mechanisms. A novel distributed control technique based on Finite-time Distributed Sliding Mode Control (DSMC) is presented to establish second-order consensus in a multi-agent framework in which each leg of the platform is viewed as an autonomous agent. The control approach ensures accurate monitoring of reference trajectories. Simulations are used to validate the efficacy of the proposed control scheme by comparing it to typical decentralized PD control methods. The results simulated based on the Quasi-Physical Model show that consensus-based control outperforms the counterpart control approaches in terms of accuracy and stability. |
| format | Article |
| id | doaj-art-9d6d07dbdfed4a16b9f4e4568bfff3eb |
| institution | Kabale University |
| issn | 2590-1230 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Results in Engineering |
| spelling | doaj-art-9d6d07dbdfed4a16b9f4e4568bfff3eb2025-01-22T05:43:49ZengElsevierResults in Engineering2590-12302025-03-0125103872A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion trackingDuc Cuong Vu0Tung Lam Nguyen1Danh Huy Nguyen2Motion Control and Applied Robotics Laboratory (MoCAR), School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Viet NamMotion Control and Applied Robotics Laboratory (MoCAR), School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Viet NamCorresponding author.; Motion Control and Applied Robotics Laboratory (MoCAR), School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Viet NamThe Gough-Stewart Platform, often referred to simply as the Stewart Platform, is a parallel mechanical system with six degrees of freedom, which is widely employed in simulation and precise applications. This study gives a thorough Lagrangian-based model of the Stewart Platform, emphasizing its dynamic behavior and control mechanisms. A novel distributed control technique based on Finite-time Distributed Sliding Mode Control (DSMC) is presented to establish second-order consensus in a multi-agent framework in which each leg of the platform is viewed as an autonomous agent. The control approach ensures accurate monitoring of reference trajectories. Simulations are used to validate the efficacy of the proposed control scheme by comparing it to typical decentralized PD control methods. The results simulated based on the Quasi-Physical Model show that consensus-based control outperforms the counterpart control approaches in terms of accuracy and stability.http://www.sciencedirect.com/science/article/pii/S2590123024021157Stewart platformFinite-time Distributed Sliding Mode ControlConsensus-based controlMulti-agent systemsQuasi-physical model |
| spellingShingle | Duc Cuong Vu Tung Lam Nguyen Danh Huy Nguyen A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking Results in Engineering Stewart platform Finite-time Distributed Sliding Mode Control Consensus-based control Multi-agent systems Quasi-physical model |
| title | A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking |
| title_full | A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking |
| title_fullStr | A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking |
| title_full_unstemmed | A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking |
| title_short | A novel approach of Consensus-based Finite-time Distributed Sliding Mode Control for Stewart platform manipulators motion tracking |
| title_sort | novel approach of consensus based finite time distributed sliding mode control for stewart platform manipulators motion tracking |
| topic | Stewart platform Finite-time Distributed Sliding Mode Control Consensus-based control Multi-agent systems Quasi-physical model |
| url | http://www.sciencedirect.com/science/article/pii/S2590123024021157 |
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