HIERARCHICAL SLIDING MODE CONTROL OF A SPHERICAL ROBOT DRIVEN BY OMNI
WHEELS

CHUR > College of Engineering > Department of Electrical Engineering > Seminar Papers > Item 987654321/33970

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Title:	HIERARCHICAL SLIDING MODE CONTROL OF A SPHERICAL ROBOT DRIVEN BY OMNI WHEELS
Authors:	王志湖 Wang, Chih-Hu
Contributors:	電機工程學系 Electrical Engineering
Keywords:	Hierarchical sliding mode control;Spherical robot driven by Omni whecls
Date:	2012
Issue Date:	2014-06-27 02:35:50 (UTC+8)
Abstract:	The hierarchical sliding mode control (HSMC) has been proposed to achieve the position control of a spherical robot driven by Omni wheels. The two-direction movement can bc accomplished by thc cross type arrangement of driving wheels. Based on the two-lay
Appears in Collections:	[Department of Electrical Engineering] Seminar Papers

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