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...

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Bibliographic Details
Main Authors: Ashrafiuon, Hashem., Erwin, R. Scott.
Format: Villanova Faculty Authorship
Published: 2004
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