Nonlinear robust tracking control of a tensegrity motion simulator Conference Paper uri icon


  • 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.

name of conference

  • Acquisition, Tracking, and Pointing XII

published proceedings

  • Proceedings of SPIE

author list (cited authors)

  • Sultan, C., Corless, M., & Skelton, R. T.

citation count

  • 3

complete list of authors

  • Sultan, Cornel||Corless, Martin||Skelton, Robert T

editor list (cited editors)

  • Masten, M. K., & Stockum, L. A.

publication date

  • July 1998