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

Yang Bai, Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2083-2090
Number of pages8
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - Dec 13 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: Sep 24 2017Sep 28 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period9/24/179/28/17

All Science Journal Classification (ASJC) codes

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

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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