Stewart Platform Control Input Anti-saturation Sliding Mode Controller Design

At present, most of the Stewart platform is used to compensate the waves on the offshore wind power operation and maintenance ship, and its control belongs to nonlinear control. In the process of trajectory tracking, the traditional sliding mode control algorithm has small overshoot and strong anti-interference ability, but the control output torque is large, which is easy to cause actuator damage. In this paper, a sliding mode control method based on control input anti-saturation is proposed by defining auxiliary analysis system and dynamically amplifying input saturation error. The simulation results show that the method is effective.