Robust Sliding Mode Control for Novel Type of Parallel Robot
نویسندگان
چکیده
منابع مشابه
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملrobust sliding mode controller for trajectory tracking and attitude control of a nonholonomic spherical mobile robot
based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...
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Abstract A new control scheme is presented for nonholonomic mobile robots. The main idea of this paper is to consider the natural algebraic structure of the chained form system together with ideas from sliding mode theory while designing the control law. At first, the system model is converted into a single-input time-varying linear system by setting one input as a time-varying function. We des...
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ژورنال
عنوان ژورنال: Algerian Journal of Signals and Systems
سال: 2017
ISSN: 2676-1548,2543-3792
DOI: 10.51485/ajss.v2i4.47