Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot
Joint Authors
Cao, Jinde
Zargarzadeh, Hassan
Moazami, Saeed
Taheri Andani, Majid
Ramezani, Zahra
Arefi, Mohammad Mehdi
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-10-16
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features.
This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum.
The pendulum has two input torques that allow it to take angles about the robot’s transverse and longitudinal axes.
Due to mechanical technicalities, it is assumed that these angles are immeasurable.
First, a neural network observer is designed to estimate the pendulum angles.
Then a modified sliding mode controller is proposed for the robot’s tracking control in the presence of uncertainties.
Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors.
Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches.
American Psychological Association (APA)
Taheri Andani, Majid& Ramezani, Zahra& Moazami, Saeed& Cao, Jinde& Arefi, Mohammad Mehdi& Zargarzadeh, Hassan. 2018. Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot. Complexity،Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1133529
Modern Language Association (MLA)
Taheri Andani, Majid…[et al.]. Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot. Complexity No. 2018 (2018), pp.1-15.
https://search.emarefa.net/detail/BIM-1133529
American Medical Association (AMA)
Taheri Andani, Majid& Ramezani, Zahra& Moazami, Saeed& Cao, Jinde& Arefi, Mohammad Mehdi& Zargarzadeh, Hassan. Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot. Complexity. 2018. Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1133529
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1133529