Sliding Mode Control of Pendulum-Driven Spherical Robots

Tao Yu; Han Xu Sun; Qing Xuan Jia; Yan Heng Zhang; Wei Zhao

doi:10.4028/www.scientific.net/AMR.591-593.1519

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 591-593Sliding Mode Control of Pendulum-Driven Spherical...

Sliding Mode Control of Pendulum-Driven Spherical Robots

Abstract:

In this paper, the dynamics and control aspects of longitudinal motion of pendulum-driven spherical robots are investigated. A simplified dynamic model is established for a spherical robot, which is an underactuated mechanical system. Based on this dynamic model, a hierarchical sliding mode controller is proposed. The stability of the whole system is verified through Lyapunov analysis, and the asymptotic stability of the sub-sliding surfaces is proved with mathematical techniques. The validity of the proposed controller is illustrated through a simulation study.

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Periodical:

Advanced Materials Research (Volumes 591-593)

Pages:

1519-1522

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.591-593.1519

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Online since:

November 2012

Authors:

Tao Yu, Han Xu Sun, Qing Xuan Jia, Yan Heng Zhang, Wei Zhao

Keywords:

Longitudinal Motion, Sliding Mode Control, Spherical Robot, Underactuated System

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References

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