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Proceedings Paper

Nonlinear robust tracking control of a tensegrity motion simulator
Author(s): Cornel Sultan; Martin Corless; Robert T. Skelton
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Paper 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.

Paper Details

Date Published: 30 July 1998
PDF: 12 pages
Proc. SPIE 3365, Acquisition, Tracking, and Pointing XII, (30 July 1998); doi: 10.1117/12.317512
Show Author Affiliations
Cornel Sultan, Purdue Univ. (United States)
Martin Corless, Purdue Univ. (United States)
Robert T. Skelton, Univ. of California/San Diego (United States)

Published in SPIE Proceedings Vol. 3365:
Acquisition, Tracking, and Pointing XII
Michael K. Masten; Larry A. Stockum, Editor(s)

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