Abstract
The paper presents a unified approach for decentralized feedback control of multibody systems (MBS) in the face of bounded parameter inaccuracies and random disturbances. The approach is based on optimal trade-off relations between the given bounds of perturbations, the system output accuracy and the control force limits. Several examples will be given to show applicability of the proposed control design concepts to various-type MBS. Decentralized sliding-mode controllers are designed for a half-car model with active suspensions to illustrate how robust such controllers can be.
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© 1997 Springer Science+Business Media Dordrecht
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Kiriazov, P.K. (1997). Robust Decentralized Control of Multibody Systems. In: Van Campen, D.H. (eds) IUTAM Symposium on Interaction between Dynamics and Control in Advanced Mechanical Systems. Solid Mechanics and Its Applications, vol 52. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-5778-0_22
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DOI: https://doi.org/10.1007/978-94-011-5778-0_22
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