PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bartolini G., Punta E., Zolezzi T. Sliding mode simplex control methods for mechanical systems. In: 15th IFAC Triennial World Congress (Barcelona, Spain, 21-26 July 2002). Proceedings, pp. 1 - 6. IFAC, 2002.
 
 
Abstract
(English)
We consider the control of mechanical systems based on sliding mode control techniques. Recently developed simplex control methods are shown to converge in a finite time when applied to nonlinear systems under bounded deterministic uncertainty. Applications are considered to the control of mechanical systems in which the control action is provided by monodirectional devices.
Subject Control
Sliding mode control
Control of nonlinear uncertain systems,
Control of mechanical systems.


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