Abstract
In this article we illustrate how the property of differential flatness can be advantageously joined to the sliding mode controller design methodology for the active stabilization of nonlinear mechanical vibration systems. The proposed scheme suitably combines off-line trajectory planning and an on-line “smoothed” sliding mode feedback trajectory tracking scheme for regulating the evolution of the flat output variables toward the desired equilibria. [S0022-0434(00)00404-4]
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