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 | |
| 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 | Korea, Republic of |
| City | Daejeon |
| Period | 10/9/16 → 10/14/16 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
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
}
TY - GEN
T1 - Backstepping trajectory tracking control for a spherical rolling robot
AU - Bai, Yang
AU - Svinin, Mikhail
AU - Yamamoto, Motoji
PY - 2016/11/28
Y1 - 2016/11/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85006482206&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006482206&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759070
DO - 10.1109/IROS.2016.7759070
M3 - Conference contribution
AN - SCOPUS:85006482206
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 298
EP - 303
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -