Sliding mode control scheme for a jumping robot with multi-joint based on floating basis

DOI10.1080/00207179.2011.638325zbMATH Open1282.93071OpenAlexW2050536714MaRDI QIDQ5745552FDOQ5745552

Lei He, Shuang Gao, Jianjun Yao, Shenghai Hu, Duotao di

Publication date: 30 January 2014

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2011.638325

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zbMATH Keywords

sliding mode controltrajectory trackingtask spacevariable constraintsjumping robotfloating basis

Mathematics Subject Classification ID

Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Output feedback variable structure control design

Cited In (2)

• Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot
• Motion optimization for jumping robot based on inertia matching manipulability

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