Nonlinear robust tracking control of a tensegrity motion simulator

Cornel Sultan; Martin Corless; Robert T. Skelton

doi:10.1117/12.317512

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30 July 1998 Nonlinear robust tracking control of a tensegrity motion simulator

Cornel Sultan, Martin Corless, Robert T. Skelton

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Proceedings Volume 3365, Acquisition, Tracking, and Pointing XII; (1998) https://doi.org/10.1117/12.317512
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

Abstract

In this paper we propose a new motion simulator base don tendon controlled tensegrity structures. The simulator is equipped with a robust nonlinear controller which achieves robust tracking by the simulator of a desired motion. The controller parameters can be tuned to guarantee tracking to within a prespecified tolerance and with a prescribed rate of exponential convergence. The design is verified through numerical simulations for specific longitudinal motions of a symmetric aircraft.

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Cornel Sultan, Martin Corless, and Robert T. Skelton "Nonlinear robust tracking control of a tensegrity motion simulator", Proc. SPIE 3365, Acquisition, Tracking, and Pointing XII, (30 July 1998); https://doi.org/10.1117/12.317512

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