Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties

Yang Bai; Mikhail Svinin; Motoji Yamamoto

doi:10.1109/IROS.2017.8206026

Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties

Yang Bai, Mikhail Svinin, Motoji Yamamoto

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

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	https://doi.org/10.1109/IROS.2017.8206026
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

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2017.8206026

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Cite this

Bai, Y., Svinin, M., & Yamamoto, M. (2017). Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2083-2090). [8206026] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206026

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

Bai, Y, Svinin, M & Yamamoto, M 2017, Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems., 8206026, IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, Institute of Electrical and Electronics Engineers Inc., pp. 2083-2090, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 9/24/17. https://doi.org/10.1109/IROS.2017.8206026

Bai Y, Svinin M, Yamamoto M. Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties. In 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). https://doi.org/10.1109/IROS.2017.8206026

Bai, Yang ; Svinin, Mikhail ; Yamamoto, Motoji. / Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 2083-2090 (IEEE International Conference on Intelligent Robots and Systems).

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