Adaptive control of an underactuated spherical robot with a dynamic stable equilibrium point using hierarchical sliding mode approach

DOI10.1002/ACS.2413zbMath1332.93186OpenAlexW2115779574MaRDI QIDQ2792810

Ming Yue, Baoyin Liu

Publication date: 14 March 2016

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.2413

zbMATH Keywords

spherical robotunderactuatedground adaptivityhierarchical sliding mode

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (4)

Connectivity-preserving adaptive synchronized tracking of heterogeneous spherical robots with limited communication ranges ⋮ Adaptive synchronized tracking of heterogeneous spherical robots using distributed hierarchical sliding surfaces under a directed graph ⋮ Fuzzy Adaptive Sliding-Mode Control Scheme for Uncertain Underactuated Systems ⋮ Balance and velocity control of a novel spherical robot with structural asymmetry

Cites Work

• Robust and adaptive variable structure output feedback control of uncertain systems with input nonlinearity
• Robust adaptive control of an underactuated free-flying space robot under a non-holonomic structure in joint space
• ROBUST CONTROL BY SLIDING MODE FOR A CLASS OF UNCERTAIN UNDERACTUATED SYSTEMS WITH SATURATION

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