Model-Free Based Nonsingular Fast Terminal Sliding Mode Control for Gough-Stewart Platform

In this paper, a model-free based nonsingular fast terminal sliding mode control (MFNFTSMC) approach is presented to track the position and pose of an uncertain Gough-Stewart platform (GSP). Firstly, the kinematic and dynamic modeling of the GSP system is constructed. Then, a MFNFTSMC method is presented. The model uncertainty is compensated using a time-delay estimation (TDE) approach, and the error resulting from the delay estimate is then compensated using a Super-Twisting algorithm (STA). Thirdly, by integrating STA dynamics and NFTSMC dynamics, a model-free strategy based on the ultra-local model is provided to diminish the demand of acquiring the precise model of the GSP. Finally, to verify the performance and effectiveness of the proposed MFNFTSMC method, the virtual prototype of Gough-Stewart platform is built in Solidworks, co-simulation is carried out with Matlab/Simulink on a Gough-Stewart platform in comparison with the NFTSMC method. Key Words: Gough-Stewart platform, Model-free control, Time-delay estimation, Terminal sliding mode control