Multi-Terrain Velocity Control of the Spherical Robot by Online Obtaining the Uncertainties in the Dynamics

被引：14

作者：

Liu, Yifan ^{[1
]}

Wang, Yixu ^{[1
]}

Guan, Xiaoqing ^{[1
]}

Wang, You ^{[1
]}

Jin, Song ^{[1
]}

Hu, Tao ^{[1
]}

Ren, Wei ^{[1
]}

Hao, Jie ^{[2
]}

Zhang, Jin ^{[3
]}

Li, Guang ^{[1
]}

机构：

[1] Zhejiang Univ, Inst Cyber Syst & Control, State Key Lab Ind Control Technol, Hangzhou 310027, Peoples R China

[2] Luoteng Hangzhou Techonl Co Ltd, Hangzhou 310027, Peoples R China

[3] Changsha Univ Sci & Technol, Sch Comp & Commun Engn, Changsha 410114, Peoples R China

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 02期

关键词：

Motion control; multi-terrain control; robust/adaptive control; spherical robot; SLIDING-MODE CONTROL;

D O I：

10.1109/LRA.2022.3141210

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

One controller cannot work on multiple and unknown terrains in the velocity control of the spherical robot, because the dynamic models of' the robot vary on different terrains, and unmodeled dynamics and uncertainties exist in estimated dynamic models. Based on the above problem, a new velocity controller for spherical robot is designed. This controller combines a hierarchical sliding mode controller (HSMC), an adaptive RBF neural network (RBFNN) and a variable step-size algorithm. The RBFNN is used to online estimate the uncertainties, and the Lyapunov function is utilized to design the adaptive law for the RBFNN. In order to learn the uncertainties faster, while minimizing overshoot and preventing velocity oscillations, a variable step-size algorithm is proposed. The practical experiments demonstrate that, this controller of the spherical robot achieves velocity tracking on multiple and complex terrains, while eliminating steady-state error, having a good control effect, and maintaining high stability.

引用

页码：2732 / 2739

页数：8

共 26 条

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