Motion control of a spherical mobile robot by feedback linearization

Liu, Daliang; Sun, HanXv; Jia, Qingxuan; Wang, Liangqing

doi:10.1109/wcica.2008.4593051

Cited by 18 publications

(3 citation statements)

References 8 publications

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“…It is similar to the case of decoupling the steering variable from the dynamics shown in [5]. As we consider f β a as a new input f u β , the dynamics model Eq.…”

Section: ) Shellmentioning

confidence: 95%

Motion control of a novel spherical robot equipped with a flywheel

Jia

Zheng

Cao

et al. 2009

2009 International Conference on Information and Automation

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An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method, the simplified dynamic model of the robot is derived under some assumptions, Moreover, a Linear Quadratic Regulator (LQR) controller and Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the dynamic model and the controllers are validated through simulation study and prototype experiment.

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“…It is similar to the case of decoupling the steering variable from the dynamics shown in [5]. As we consider f β a as a new input f u β , the dynamics model Eq.…”

Section: ) Shellmentioning

confidence: 95%

Motion control of a novel spherical robot equipped with a flywheel

Jia

Zheng

Cao

et al. 2009

2009 International Conference on Information and Automation

View full text Add to dashboard Cite

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“…In refs. [6][7][8], the motion equation was decomposed into horizontal and vertical subsystems. References [6,7] designed full-state feedback and PI controllers for rolling and forward motions, respectively.…”

Section: Introductionmentioning

confidence: 99%

Design and validation of a novel adaptive motion control for a pendulum spherical robot

2023

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Spherical robots (SRs) have the characteristics of nonholonomic constraints, underactuation, nonchain, and strong coupling, which increase the difficulty of modeling and motion control compared with traditional robots. In this study, we develop an adaptive motion control scheme for a nonholonomic SR, in which an omnidirectional dynamic model is carried out by using the Euler–Lagrange method to describe the omnidirectional motion of the SR more accurately. Furthermore, to facilitate the design of the motion controller, the dynamic model is simplified to obtain the state space expression of the SR. Aiming at the problem of poor control effect caused by the change of system model parameters which are influenced by dynamic model reduction, an adaptive motion control law of SR is designed based on MRAC. And the coefficient adjustment of the controller is obtained by the Lyapunov method, with the guaranteed stability of the closed-loop system. Finally, the controller designed in this thesis is compared with four controllers including linear quadratic regulator, Fuzzy PID, PSO-ADRC, and hierarchical SMC. The experimental comparison proves that the control scheme proposed in this study still has good control ability when the motion parameters are disturbed.

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“…The spherical mobile robot can use the shell to make itself move omni-directionally, and the shell can provide mechanical and environmental protection for the equipment and actuation mechanism of the robot. This configuration conveys significant advantages including good dynamic stability, high maneuverability, and low rolling resistance and so on [1] [4] . The spherical robot can resume stability even if a collision happens and jump by itself, so it is very suitable to be used in those unfriendly or harsh environments, such as outer planets and fields.…”

Section: Introductionmentioning

confidence: 99%