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SLIDING MODE SIMPLEX CONTROL METHODS FOR MECHANICAL SYSTEMS
Giorgio Bartolini* Elisabetta Punta** Tullio Zolezzi***
* University of Cagliari, DIEE, Cagliari, Italy
e-mail: giob@dist.unige.it
** University of Genova, DIST, Genova, Italy
e-mail: punta@dist.unige.it
*** University of Genova, DIMA, Genova, Italy
e-mail: zolezzi@dima.unige.it
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 under deterministic uncertainty. Applications are considered to mechanical systems in which the control action is provided by monodirectional devices.
Keywords: Control, sliding mode control, control of nonlinear uncertain systems, control of mechanical systems
Session slot T-Th-M15: Applications of Robust Control I/Area code 2e : Robust Control
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