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The nonlinear characteristics in the bicycle robot dynamic system make the bicycle robot control much more difficult. Aiming at this problem, the cascade sliding-mode control method was applied to the bicycle robot nonlinear system. A kind of bicycle robot nonlinear dynamic model presented based on Lagrange method was analyzed and the cascade sliding-mode controller of multi-sliding surface was designed...
This paper considers the finite-time controller design for wheeled mobile robots. After the mobile robot dynamics have been transformed into an advantageous form, called the heisenberg form, a finite-time controller is designed in order to promulgate the practical stability of the system. The desired stability property of the closed-loop system is provided by applying a homogeneous sliding mode controller,...
In this paper, three techniques for robust control of underactuated robots are experimentally compared on the classical ball and beam system. An adaptive tracking controller is first designed and implemented to identify the nominal friction characteristic. Then, designs for a linear quadratic regulator (LQR), subspace stabilization controller, and combined error metric controller are presented. Step...
For modular and reconfigurable robots, it is very difficult to design effective controllers due to diverse configurations. Thus, a distributed adaptive sliding mode controller is proposed in this paper to satisfy the concept of modular software. Based on geometric formulation for the dynamics of rigid body, a robot dynamics system can be divided into some subsystems by a decomposing algorithm, and...
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