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A second order sliding mode controller is modified to form a continuous homogeneous controller. Uniform finite time stability is proved by extending the homogeneity principle of discontinuous systems to the continuous case with uniformly decaying piece-wise continuous nonhomogeneous disturbances. The modified controller is then utilised to track reference trajectories for all the joints of a fully...
A second order sliding mode controller is utilised to track reference trajectories for all the joints of a fully actuated biped robot. The existing tuning rules for the ‘twisting’ controller are used to guarantee a priori attainment of a prescribed settling time between two successive impacts. The joint torque is modeled as the control input. Smoothing of the discontinuous controller is carried out...
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