Experimental Validation of a Sliding Mode Control for a Stewart Platform Used in Aerospace Inspection Applications
dc.contributor.author | Velasco Pascual, Javier | |
dc.contributor.author | Calvo Gordillo, Isidro ![]() | |
dc.contributor.author | Barambones Caramazana, Oscar ![]() | |
dc.contributor.author | Venegas, Pablo | |
dc.contributor.author | Napole, Cristian | |
dc.date.accessioned | 2020-12-03T13:04:07Z | |
dc.date.available | 2020-12-03T13:04:07Z | |
dc.date.issued | 2020-11-17 | |
dc.identifier.citation | Mathematics 8(11) : (2020) // Article ID 2051 | es_ES |
dc.identifier.issn | 2227-7390 | |
dc.identifier.uri | http://hdl.handle.net/10810/48771 | |
dc.description.abstract | The authors introduce a new controller, aimed at industrial domains, that improves the performance and accuracy of positioning systems based on Stewart platforms. More specifically, this paper presents, and validates experimentally, a sliding mode control for precisely positioning a Stewart platform used as a mobile platform in non-destructive inspection (NDI) applications. The NDI application involves exploring the specimen surface of aeronautical coupons at different heights. In order to avoid defocusing and blurred images, the platform must be positioned accurately to keep a uniform distance between the camera and the surface of the specimen. This operation requires the coordinated control of the six electro mechanic actuators (EMAs). The platform trajectory and the EMA lengths can be calculated by means of the forward and inverse kinematics of the Stewart platform. Typically, a proportional integral (PI) control approach is used for this purpose but unfortunately this control scheme is unable to position the platform accurately enough. For this reason, a sliding mode control (SMC) strategy is proposed. The SMC requires: (1) a priori knowledge of the bounds on system uncertainties, and (2) the analysis of the system stability in order to ensure that the strategy executes adequately. The results of this work show a higher performance of the SMC when compared with the PI control strategy: the average absolute error is reduced from 3.45 mm in PI to 0.78 mm in the SMC. Additionally, the duty cycle analysis shows that although PI control demands a smoother actuator response, the power consumption is similar. | es_ES |
dc.description.sponsorship | This research was funded by the Basque Government through the project SMAR3NAK (ELKARTEK KK-2019/00051), by the Ministerio de Economía y Competitividad (RTI2018-094669-B-C31) and by Aernnova and the Diputación Foral de Álava (DFA) through the project CONAVAUTIN 2 (Collaboration Agreement). | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | MDPI | es_ES |
dc.relation | info:eu-repo/grantAgreement/MINECO/RTI2018-094669-B-C31) | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ | |
dc.subject | automatic optical inspection | es_ES |
dc.subject | kinetic theory | es_ES |
dc.subject | parallel robots | es_ES |
dc.subject | robust control | es_ES |
dc.subject | sliding mode control | es_ES |
dc.title | Experimental Validation of a Sliding Mode Control for a Stewart Platform Used in Aerospace Inspection Applications | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.date.updated | 2020-11-26T14:09:03Z | |
dc.rights.holder | 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). | es_ES |
dc.relation.publisherversion | https://www.mdpi.com/2227-7390/8/11/2051/htm | es_ES |
dc.identifier.doi | 10.3390/math8112051 | |
dc.departamentoes | Ingeniería de sistemas y automática | |
dc.departamentoeu | Sistemen ingeniaritza eta automatika |
Files in this item
This item appears in the following Collection(s)
Except where otherwise noted, this item's license is described as 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).