Stewart Platform Motion Control: A Multi-Agent Consensus Approach

This paper presents a novel control strategy for the Stewart Platform, a 6-DOF parallel robot, utilizing a multi-agent consensus approach. The study begins with an in-depth mathematical modeling of the platform's dynamics using Lagrangian mechanics. A consensus-based distributed sliding mode control (DSMC) is proposed to manage the nonlinearities and uncertainties inherent in the system. Each leg of the Stew-art Platform is treated as an agent in a multi-agent system (MAS), with a control strategy designed to achieve consensus on the legs' lengths, ensuring coordinated motion. Numerical simulations validate the effectiveness of the proposed control method, demonstrating significant improvements in precision and stability. The results indicate that the consensus-based DSMC provides robust performance under various operating conditions, confirming its potential for enhancing the control of parallel robots. This work lays the groundwork for further research and practical applications in advanced robotic control systems.