Sliding Control Approach to Underactuated Multibody Systems.
A robust control algorithm is proposed for stabilization and tracking control of underactuated multibody mechanical systems governed by nonlinear equations of motion. Sliding, or variable structure, control is a simple hut robust nonlinear control approach that is capable of handling both disturbanc...
Main Authors: | , |
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Format: | |
Language: | English |
Published: |
2004
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Online Access: | http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173918 |