Backstepping trajectory tracking control for a spherical rolling robot

Yang Bai; Mikhail Svinin; Motoji Yamamoto

doi:10.1109/IROS.2016.7759070

Backstepping trajectory tracking control for a spherical rolling robot

Yang Bai, Mikhail Svinin, Motoji Yamamoto

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

4 Citations (Scopus)

Abstract

This paper deals with a trajectory tracking problem for the ball-pendulum system, a spherical rolling robot driven by a two degree of freedom pendulum. The backstepping technique is applied and first tested on the hoop-pendulum system, a planar case of the ball-pendulum. By mimicking the backstepping process of the planar case, a feedback controller for the ball-pendulum system is then proposed, tracking motion trajectories for both the position and orientation of the spherical shell of the rolling robot. The validity of the constructed tracking controller is demonstrated by establishing the asymptotic stability of the error dynamics for the closed-loop system. The performance of the controller is verified under simulations for tracking linear and circular motions.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	298-303
Number of pages	6
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759070
Publication status	Published - Nov 28 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: Oct 9 2016 → Oct 14 2016

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2016-November
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	10/9/16 → 10/14/16

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.2016.7759070

Cite this

Bai, Y., Svinin, M., & Yamamoto, M. (2016). Backstepping trajectory tracking control for a spherical rolling robot. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 298-303). [7759070] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759070

Backstepping trajectory tracking control for a spherical rolling robot. / Bai, Yang; Svinin, Mikhail; Yamamoto, Motoji.

IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2016. p. 298-303 7759070 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November).

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

Bai, Y, Svinin, M & Yamamoto, M 2016, Backstepping trajectory tracking control for a spherical rolling robot. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems., 7759070, IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, Institute of Electrical and Electronics Engineers Inc., pp. 298-303, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 10/9/16. https://doi.org/10.1109/IROS.2016.7759070

Bai Y, Svinin M, Yamamoto M. Backstepping trajectory tracking control for a spherical rolling robot. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2016. p. 298-303. 7759070. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2016.7759070

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Backstepping trajectory tracking control for a spherical rolling robot

Abstract

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