Motion Control of a Spherical Mobile Robot by Feedback Linearization

被引：18

作者：

Liu, Daliang ^{[1
]}

Sun, Hanxv ^{[1
]}

Jia, Qingxuan ^{[1
]}

Wang, Liangqing ^{[2
]}

机构：

[1] Beijing Univ Posts & Telecommun, Dept Automat, Beijing 100876, Peoples R China

[2] Beijing Univ Aeronaut & Astronaut, Beijing 100873, Peoples R China

来源：

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年

基金：

中国国家自然科学基金;

关键词：

Spherical Mobile Robot; Motion Control; Feedback Linearization;

D O I：

10.1109/WCICA.2008.4593051

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

BYQ-III is a spherical mobile robot. This paper deals with the problem of its simple motion control in a fixed motion mode. The robot BYQ-III is designed to be partially self-contained. A simplified dynamic model of the rotation motion in the median sagital plane is derived under some assumptions. A full-state linear feedback controller for the dynamic model and a PI controller are designed to implement the motion control in the median coronal plane and the sagital plane respectively. The model and the controllers were validated through a set of experiments. Experimental trajectories for a circle of the robot on the plane were found to agree to a reasonable accuracy. The overall design, actuator mechanism, control system, and initial results are presented in this paper.

引用

页码：965 / +

页数：2

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