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On the sliding mode control of mechanical systems |
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| Affiliation: | 1. The BioRobotics Institute, Scuola Superiore Sant''Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy;2. UO Riabilitazione Cardiaca, Fondazione Don Carlo Gnocchi, Via di Scandicci snc, 50143 Florence, Italy;3. BioRobotics Institute of Scuola Superiore Sant''Anna, Pisa, Italy |
| Abstract: | 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. |
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