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...

Full description

Saved in:
Bibliographic Details
Main Authors: Duc Cuong Vu, Tung Lam Nguyen, Danh Huy Nguyen
Format: Article
Language:English
Published: Elsevier 2025-03-01
Series:Results in Engineering
Subjects:
Online Access:http://www.sciencedirect.com/science/article/pii/S2590123024021157
Tags: Add Tag
No Tags, Be the first to tag this record!
_version_ 1832591784334589952
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
work_keys_str_mv AT duccuongvu anovelapproachofconsensusbasedfinitetimedistributedslidingmodecontrolforstewartplatformmanipulatorsmotiontracking
AT tunglamnguyen anovelapproachofconsensusbasedfinitetimedistributedslidingmodecontrolforstewartplatformmanipulatorsmotiontracking
AT danhhuynguyen anovelapproachofconsensusbasedfinitetimedistributedslidingmodecontrolforstewartplatformmanipulatorsmotiontracking
AT duccuongvu novelapproachofconsensusbasedfinitetimedistributedslidingmodecontrolforstewartplatformmanipulatorsmotiontracking
AT tunglamnguyen novelapproachofconsensusbasedfinitetimedistributedslidingmodecontrolforstewartplatformmanipulatorsmotiontracking
AT danhhuynguyen novelapproachofconsensusbasedfinitetimedistributedslidingmodecontrolforstewartplatformmanipulatorsmotiontracking