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Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

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Figure

Fig. 1. (a) The construction of the spherical robot, (b) Spherical shell and coordinate frames
TABLE 1. NOMINAL VALUES OF THE ROBOT’S PHYSICAL PARAMETERS
Fig. 8. Control torque, Tyfor tracking of circular trajectory
Fig. 16. Control torque, T
+2

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