Equivalent T–suboptimal Control of a 3–segment Leg
نویسندگان
چکیده
A particular case of a chattering-free variable structure control (VSC) — the equivalent t-suboptimal control — was recently presented for a mechatronic system with one degree of freedom [1]. In this paper, the same principle reducing the drawbacks of conventional VSC design has been applied to the trajectory tracking control of a non-redundant rigid 3-segment leg dynamics. The efficacy and robustness of the control algorithm is demonstrated through numerical simulation.
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