Decentralized Integral Nested Sliding Mode Control for Time Varying Constrained Modular and Reconfigurable Robot
This paper presents a novel decentralized integral nested sliding mode control approach for a time varying constrained modular and reconfigurable robot (MRR) and addresses the problem of joint trajectory tracking control of the MRR with strongly coupled model uncertainty. First, the dynamic model of...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-01-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1155/2014/317127 |