Nonlinear robust tracking control of a tensegrity motion simulator
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In this paper we propose a new motion simulator based on tendon controlled tensegrity structures. The simulator is equipped with a robust nonlinear controller which achieves robust tracking by the simulator of a desired motion. The controller parameters can be tuned to guarantee tracking to within a prespecified tolerance and with a prescribed rate of exponential convergence. The design is verified through numerical simulations for specific longitudinal motions of a symmetric aircraft.