Robust tracking control of Stewart platform

Abstract

We propose robust tracking controllers for a Stewart platform in the presence of uncertainty. These schemes are based on a Lyapunov approach. Even if a Stewart platform system has a similarity in structure to a serial robot the tracking control problem needs a different form compared to a serial robot. We propose controllers designed both in Cartesian coordinates and in actuator coordinates. The controllers based either on Cartesian or on actuator coordinates have features respectively. The proposed controllers guarantee practical stability.