Robust Terminal Sliding Mode Control on SE(3) for Gough–Stewart Flight Simulator Motion Platform with Payload Uncertainty

Abstract

This work proposes a robust terminal sliding mode control scheme on Lie group space SE(3) for Gough–Stewart flight simulator motion systems with payload uncertainty. A complete dynamic model with geometric mechanical structures and a computer dynamic model built in the MATLAB/Simulink package are briefly presented. The robust control strategy on the Lie group SE(3) is applied at the workspace level to counteract the effects of imperfect compensation due to model simplification and payload uncertainty in flight simulator application. With exponential coordinates for configuration error and adjoint operator on Lie algebra se(3), the robust control strategy is designed to guarantee almost global finite-time convergence over state space through the Lyapunov stability theory. Finally, a describing function and a step acceleration response to characterize the performance of a flight simulator motion base are employed to compare the robustness performance of the proposed controller on SE(3) with the conventional terminal sliding mode controller on Cartesian space. The comparison experimental results verify that the proposed controller on SE(3) provides better robustness than the conventional controller on Cartesian space, which means higher bandwidth in two degrees of freedom and faster response with smaller tracking error in six degrees of freedom.