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Trajectory Tracking of a Pendulum-Driven Spherical Robot

[+] Author Affiliations
François Robert Hogan

McGill University, Montreal, QC, Canada

James Richard Forbes

University of Michigan, Ann Arbor, MI

Paper No. DSCC2015-9727, pp. V001T18A002; 10 pages
doi:10.1115/DSCC2015-9727
From:
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME

abstract

In this paper, a controller is designed to achieve tracking of a pendulum-driven spherical robot about a desired trajectory in the presence of model uncertainty and external disturbances. A methodology is proposed to design a feedforward controller for the spherical robot by approximating the desired trajectory using circles as basis functions. A linear state-feedback controller is used to drive the perturbations from the desired trajectory to zero. Numerical simulations show that the controller realizes tracking of the desired trajectory with perturbed initial conditions.

Copyright © 2015 by ASME

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