The use of a multi-input control design procedure to determine the control law for a class of mechanical systems with uncertainties and flexibilities is described. The proposed procedure is based on the well-known backstepping design technique and relies on the possibility of extending a recently developed second-order sliding mode control approach to multi-input systems with non-matched uncertainties. This keeps the computational load reasonable and increases robustness.
Control of mechanical systems with flexibility via a multi-input VS/backstepping design
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