Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot

被引：15

作者：

Andani, Majid Taheri ^{[1
]}

Ramezani, Zahra ^{[2
]}

Moazami, Saeed ^{[1
]}

Cao, Jinde ^{[3
,4
]}

Arefi, Mohammad Mehdi ^{[5
]}

Zargarzadeh, Hassan ^{[1
]}

机构：

[1] Lamar Univ, Phillip M Drayer Elect Engn Dept, Beaumont, TX 77710 USA

[2] Iran Univ Sci & Technol, Dept Elect Engn, Tehran, Iran

[3] Southeast Univ, Sch Math, Nanjing 210096, Jiangsu, Peoples R China

[4] Southeast Univ, Res Ctr Complex Syst & Network Sci, Nanjing 210096, Jiangsu, Peoples R China

[5] Shiraz Univ, Sch Elect & Comp Engn, Dept Power & Control Engn, Shiraz 7134851154, Iran

来源：

COMPLEXITY | 2018年

关键词：

NEURAL-NETWORK CONTROL; UNKNOWN GAIN SIGN; MOBILE ROBOT; NONLINEAR-SYSTEMS; ROLLING ROBOT; MOTION; DESIGN;

D O I：

10.1155/2018/3129398

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques that allow it to take angles about the robot's transverse and longitudinal axes. Due to mechanical technicalities, it is assumed that these angles are immeasurable. First, a neural network observer is designed to estimate the pendulum angles. Then a modified sliding mode controller is proposed for the robot's tracking control in the presence of uncertainties. Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors. Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches.

引用

页数：15

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