The effective application of sliding mode control to mechanical systems is not straightforward
because of the sensitivity of these systems to chattering. Higher-order sliding modes can …

Introduction; Mathematical background; Dynamic modelling of robots; Structured network
modelling of robots; Adaptive neural network control of robots; Neural network model …

The paper presents a brief survey on Variable Structure Control Systems with Sliding
Modes. Starting from a general case of sliding modes in dynamical systems with …

An articulating probe, comprises a first mechanism includ ing a first link comprising a first
longitudinal axis, a first articulation surface and a first motion-limiting element; and a second …

This paper investigates optimal feet forces' distribution and control of quadruped robots
under external disturbance forces. First, we formulate a constrained dynamics of quadruped …

In this paper, we address unresolved issues in robot force/position tracking including the
concurrent satisfaction of contact maintenance, lack of overshoot, desired speed of …

Adaptive fuzzy-based tracking control designs are proposed in the paper for both holonomic
mechanical systems as well as a large class of nonholonomic mechanical systems with …

In this paper, we consider the problem of force/position tracking for a robot with revolute
joints in compliant contact with a kinematically known planar surface. A novel controller is …

Fundamentally, control system designs are concerned with the flow of signals in the closed
loop. In this paper, we are to present the control technique at the next level of abstraction in …

A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer
sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core …