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Screw Dynamic Modeling and Novel Composite Error-Based Second-order Sliding Mode Dynamic Control for a Bilaterally Symmetrical Hybrid Robot

Published online by Cambridge University Press:  08 January 2021

Qiuyue Qin and
Guoqin GaoOpen the ORCID record for Guoqin Gao[Opens in a new window]
Qiuyue Qin
Affiliation:
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
Guoqin Gao*
Affiliation:
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
*
*Corresponding author. E-mail: gqgao@ujs.edu.cn
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Summary

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In this research, a dynamic model is first established based on screw theory and the principle of virtual work for a bilaterally symmetrical hybrid robot. By combining a novel composite error (NCE) with second-order nonsingular fast terminal sliding mode (SONFTSM) control method, a NCE-based SONFTSM dynamic control method is further presented to guarantee better trajectory tracking performance and synchronization performance simultaneously. The asymptotic convergence of proposed errors and the stability of the proposed control method have been proved theoretically. Finally, the simulation and experiment are implemented to validate the effectiveness of the proposed control method.

Keywords

Hybrid robotDynamic controlSliding mode controlComposite errorScrew theory

Information

Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021, pp. 1264 - 1280
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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