Robust Finite-Time Tracking of Stewart Platform: A Super-Twisting Like Observer-Based Forward Kinematics Solution
Design of Multi-Input Multi-Output (MIMO) Homogeneous Sliding Modes (HSMs) for uncertain dynamic systems is considered. The resulting closed-loop systems feature all well-known standard properties of Single-Input Single-Output (SISO) HSM systems. Introduction of robust exact differentiators produces homogeneous output-feedback controllers. The ultimate asymptotic accuracy of SISO HSM technique is proved to be preserved in the MIMO and SISO cases, if the discretetime implementation is based on the one-step Euler integration.