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- W2393144911 abstract "For the load bearing requirement of large- scale equipments,the 8 × 8 omnidirectional platform was researched,and the kinematic and dynamic models were built. A three- dimensional model was built by RecurDyn and the joint simulation model was built by Matlab /Simulink for uncertain and nonlinear factors such as the slippage and barycenter shift of the platform. Adaptive sliding mode control was used for trajectory tracking control. Compared with PD control method,the results of simulation show that adaptive sliding mode control can reduce the switch gain effectively and the influence of uncertain and nonlinear factors. The tracking error is nearly zero,and it implements the accurate trajectory tracking control." @default.
- W2393144911 created "2016-06-24" @default.
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- W2393144911 date "2014-01-01" @default.
- W2393144911 modified "2023-09-25" @default.
- W2393144911 title "Research on Adaptive Sliding Mode Motion Control for Omnidirectional Platform" @default.
- W2393144911 hasPublicationYear "2014" @default.
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