Robust estimator design for forward kinematics solution of a Stewart platform

We propose a robust estimator design to solve the forward kinematics in 6 DOF motion bed (Stewart platform). The stability of the proposed estimator is proved via Lyapunov stability analysis and the estimator guarantees practical stability. We introduce the estimator design algorithm which tackles the nonlinearity and uncertainty in the system and present the methods to select estimator gain. The cone-bound condition imposed on the error dynamics is shown and this condition is adopted to prove the stability of the estimator.