A dynamic sliding mode controller is devised to achieve output tracking of the mobile manipulator that consists of a mobile platform which has two driving wheels and a two-link manipulator arm.

本文针对由二轮驱动的移动平台和二连杆机械臂组成的移动机械臂的输出跟踪问题，利用滑模控制原理为其设计了动态滑模控制器。

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An optimal motion planning scheme for a three-link planar under-actuated manipulator moving between two stationary states was considered.

研究了在两固定端点之间运动的三连杆平面欠驱动机械臂的最优运动规划问题。

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The paper used singular perturbation method to separate the Two-link Flexible Manipulator system into slow sub-system and fast sub-system and designed controller using Sliding Mode Co.

本文中采用奇异摄动方法将双连杆柔性机械臂系统分解为慢变和快变两个子系统，并对慢变子系统采用滑模控制方法设计了控制器。

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