Abstract
An adaptive trajectory tracking problem for a spherical rolling robot driven by a 2DOF pendulum is considered in this paper. A feedback controller is proposed for the goal of tracking the trajectory for the full configuration of the spherical robot. To deal with time-varying uncertainty of the system dynamics, an adaptation mechanism is included in the trajectory tracking controller by parameterizing the system uncertainty with a polynomial function, weighted by unknown constant parameters adjustable by the defined update law. The constructed controller is first tested for the planar hoop-pendulum and then applied to the ball-pendulum system. The convergence to the desired trajectories under the control law is proved and then verified by simulations for tracking circular motions under perturbation.
| Original language | English |
|---|---|
| Title of host publication | IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2083-2090 |
| Number of pages | 8 |
| ISBN (Electronic) | 9781538626825 |
| DOIs | |
| Publication status | Published - Dec 13 2017 |
| Event | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: Sep 24 2017 → Sep 28 2017 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| Volume | 2017-September |
| ISSN (Print) | 2153-0858 |
| ISSN (Electronic) | 2153-0866 |
Other
| Other | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 |
|---|---|
| Country | Canada |
| City | Vancouver |
| Period | 9/24/17 → 9/28/17 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties. / Bai, Yang; Svinin, Mikhail; Yamamoto, Motoji.
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2083-2090 8206026 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties
AU - Bai, Yang
AU - Svinin, Mikhail
AU - Yamamoto, Motoji
PY - 2017/12/13
Y1 - 2017/12/13
N2 - An adaptive trajectory tracking problem for a spherical rolling robot driven by a 2DOF pendulum is considered in this paper. A feedback controller is proposed for the goal of tracking the trajectory for the full configuration of the spherical robot. To deal with time-varying uncertainty of the system dynamics, an adaptation mechanism is included in the trajectory tracking controller by parameterizing the system uncertainty with a polynomial function, weighted by unknown constant parameters adjustable by the defined update law. The constructed controller is first tested for the planar hoop-pendulum and then applied to the ball-pendulum system. The convergence to the desired trajectories under the control law is proved and then verified by simulations for tracking circular motions under perturbation.
AB - An adaptive trajectory tracking problem for a spherical rolling robot driven by a 2DOF pendulum is considered in this paper. A feedback controller is proposed for the goal of tracking the trajectory for the full configuration of the spherical robot. To deal with time-varying uncertainty of the system dynamics, an adaptation mechanism is included in the trajectory tracking controller by parameterizing the system uncertainty with a polynomial function, weighted by unknown constant parameters adjustable by the defined update law. The constructed controller is first tested for the planar hoop-pendulum and then applied to the ball-pendulum system. The convergence to the desired trajectories under the control law is proved and then verified by simulations for tracking circular motions under perturbation.
UR - http://www.scopus.com/inward/record.url?scp=85041956880&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85041956880&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206026
DO - 10.1109/IROS.2017.8206026
M3 - Conference contribution
AN - SCOPUS:85041956880
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2083
EP - 2090
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -