EQUIVALENT T-SUBOPTIMAL CONTROL OF A 3-SEGMENT LEG

Ján Kardoš - 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 [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.

Keywords: variable structure control, reachability (or reaching) condition, sliding mode, chattering-free, time suboptimality, 3-segment leg

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