Backstepping trajectory tracking control for a spherical rolling robot

Yang Bai, Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 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 languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages298-303
Number of pages6
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

Fingerprint

Backstepping
Pendulums
Trajectories
Robots
Controllers
Asymptotic stability
Closed loop systems
Feedback

All Science Journal Classification (ASJC) codes

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

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 proceedingConference 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
Bai, Yang ; Svinin, Mikhail ; Yamamoto, Motoji. / Backstepping trajectory tracking control for a spherical rolling robot. IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 298-303 (IEEE International Conference on Intelligent Robots and Systems).
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