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30 July 1998 Nonlinear robust tracking control of a tensegrity motion simulator
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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.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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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