Hierarchical Sliding Mode Control of A Spherical Robot Driven By Omni Wheels
碩士 === 中華大學 === 電機工程學系碩士班 === 100 === 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 be accomplished by the cross type arrangement of driving wheels. Based on the two-layer arch...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | en_US |
| Published: |
2012
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| Online Access: | http://ndltd.ncl.edu.tw/handle/46577703930919627982 |