Backstepping trajectory tracking control for a spherical rolling robot

Yang Bai, Mikhail Svinin, Motoji Yamamoto

研究成果: 著書/レポートタイプへの貢献会議での発言

2 引用 (Scopus)

抄録

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.

元の言語英語
ホスト出版物のタイトルIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
出版者Institute of Electrical and Electronics Engineers Inc.
ページ298-303
ページ数6
ISBN(電子版)9781509037629
DOI
出版物ステータス出版済み - 11 28 2016
イベント2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, 大韓民国
継続期間: 10 9 201610 14 2016

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2016-November
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

その他

その他2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
大韓民国
Daejeon
期間10/9/1610/14/16

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

これを引用

Bai, Y., Svinin, M., & Yamamoto, M. (2016). Backstepping trajectory tracking control for a spherical rolling robot. : IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 298-303). [7759070] (IEEE International Conference on Intelligent Robots and Systems; 巻数 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; 巻 2016-November).

研究成果: 著書/レポートタイプへの貢献会議での発言

Bai, Y, Svinin, M & Yamamoto, M 2016, Backstepping trajectory tracking control for a spherical rolling robot. : IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems., 7759070, IEEE International Conference on Intelligent Robots and Systems, 巻. 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, 大韓民国, 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. : 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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