A smooth sliding mode controller using a state observer for position control of the Stewart-Gough Platform

This paper proposes a position controller for the Stewart-Gough platform using the sliding mode control technique based on the joint space dynamic model. The leg lengths are calculated with the inverse kinematic model and the leg velocities are estimated using a super-twisting observer. The controller is designed with high order sliding mode technique. The desired position trajectory of the moving platform has been achieved using the proposed controller. The effectiveness of the proposed controller has been proved with the simulation results.