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
N1 - Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
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.
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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.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -