中文摘要：

用跟踪误差小数幂技术，研究一种新的具有终端收敛能力的Stewart平台饱和PD加重力补偿控制方法，运用LaShalle＇s不变集原理分析系统稳定性，通过数值仿真验证新方法的有效性。结果表明，新方法能够保证系统在控制器输出存在饱和的情况下全局渐近稳定，且比传统的饱和PD加重力补偿控制方法具有更快的收敛速度。

英文摘要：

A new saturating PD plus gravity compensation control approach with terminal convergence capability for Stewart platform was presented using decimal fraction power of tracking error. In light of LaShalle＇s invariance principle, the system stability was analyzed. The effectiveness of the approach was demonstrated by numerical simulation. The results show that the method can achieve asymptotic stability in the presence of controller output saturation. The proposed approach has faster convergence speed than conventional saturating PD plus gravity compensation control algorithm.