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In this paper, we propose a Takagi-Sugeno-Kang (TSK) fuzzy model for a four-Mecanum-wheel omni-directional mobile free-base (4MW-ODMFB) with system uncertainties and external disturbances based on the model given in [12], [13], and then design an adaptive sliding-mode control (ASMC) system for trajectory tracking of 4MW-ODMFB, which combines the techniques of adaptive control and sliding-mode control...
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