EQUIVALENT T-SUBOPTIMAL CONTROL OF A 3-SEGMENT LEG
Ján Kardo - David Harvey - David Howard
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 .
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.
Keywords: variable structure control, reachability (or reaching) condition, sliding mode, chattering-free, time suboptimality, 3-segment leg