SUMMARYIn this research, a dynamic model is first established based on screw theory and the principle of virtual work for a bilaterally symmetrical hybrid robot. By combining a novel composite error (NCE) with second-order nonsingular fast terminal sliding mode (SONFTSM) control method, a NCE-based SONFTSM dynamic control method is further presented to guarantee better trajectory tracking performance and synchronization performance simultaneously. The asymptotic convergence of proposed errors and the stability of the proposed control method have been proved theoretically. Finally, the simulation and experiment are implemented to validate the effectiveness of the proposed control method.

中文翻译：

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双边对称混合机器人螺旋动力学建模和基于复合误差的二阶滑模动态控制

摘要本研究首先基于螺旋理论和虚功原理建立了双边对称混合机器人的动力学模型。通过将新型复合误差（NCE）与二阶非奇异快速终端滑模（SONFTSM）控制方法相结合，进一步提出了一种基于NCE的SONFTSM动态控制方法，以同时保证更好的轨迹跟踪性能和同步性能。从理论上证明了所提出的误差的渐近收敛性和所提出的控制方法的稳定性。最后通过仿真和实验验证了所提控制方法的有效性。