Finite-time adaptive composite integral sliding mode control of Stewart parallel robot based on fast finite-time observer

摘要

Abstract A finite-time adaptive composite integral sliding mode control strategy based on a fast finite-time observer is proposed for trajectory tracking of the Stewart parallel robot, considering unmodeled uncertainties and external disturbances. First, a global finite-time converging sliding mode surface composed of intermediate variables and integral terms is established to eliminate steady-state tracking errors. Next, a fast finite-time extended state observer is designed to compensate for uncertainties and external disturbances, improving the robustness of the control system. Finally, based on this, a finite-time sliding mode control rate is designed. The gain value is adjusted through an adaptive reaching law to reduce sliding mode chattering, and global finite-time convergence of the system is theoretically proven using Lyapunov theory. Experimental verification shows that the proposed control strategy has stronger robustness to uncertainties and external disturbances, faster error convergence, less chattering, and higher stability accuracy.