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

Yang Bai, Mikhail Svinin, Motoji Yamamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2083-2090
ページ数8
ISBN(電子版)9781538626825
DOI
出版ステータス出版済み - 12 13 2017
イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, カナダ
継続期間: 9 24 20179 28 2017

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2017-September
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

その他

その他2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Countryカナダ
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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