Nonlinear robust tracking control of a tensegrity motion simulator

Cornel Sultan; Martin Corless; Robert T. Skelton

doi:10.1117/12.317512

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

Cornel Sultan, Martin Corless, Robert T. Skelton

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.

Citation Download Citation

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

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available