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Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

โœ Scribed by Defoort, M.; Floquet, T.; Kokosy, A.; Perruquetti, W.


Book ID
117918473
Publisher
IEEE
Year
2008
Tongue
English
Weight
732 KB
Volume
55
Category
Article
ISSN
1932-4529

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Decentralized sliding mode control for f
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A technique using augmented sliding mode control for robust, real-time control of flexible multiple link robots is presented. For the purpose of controller design, the n-link, n-joint robot is subdivided into n single joint, single link subsystems. A sliding surface for each subsystem is specified s