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The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice.

Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors.

The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively.

The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

The purpose of this paper is to present a new scout robot that tries to combine the hopping movement and the wheeling movement to greatly enlarge the scope of robot's activities.

A five‐shank hopping mechanism was employed to build the wheeling‐hopping combination scout robot. The non‐linear character of the five‐shank hopping mechanism was analyzed and then used in the proposed non‐linear spring‐mass model for the robot.

The rules of robot's movement were deduced, influencing factors of the jumping height were analyzed and the countermeasure was adopted. Simulations and an experiment of the robot's movement showed that the robot has strong locomotivity and survival ability.

A five‐shank hopping mechanism is proposed, analyzed and combined with wheeling movement to enhance the locomotivity and survival ability of scout robot.