期刊
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
卷 28, 期 6, 页码 523-535出版社
WILEY
DOI: 10.1002/acs.2413
关键词
spherical robot; underactuated; ground adaptivity; hierarchical sliding mode
资金
- National Natural Science Foundation of China [61175101, 61175102]
- State Key Lab of Fluid Power Transmission and Control [GZKF-201204]
- Fundamental Research Funds for the Central Universities [DUT12LK45]
Unlike the traditional underactuated mechanical system, the equilibrium point of the inner swing-up suspension of a spherical robot possesses stable and dynamic characteristics. The stable dynamic equilibrium position of the underactuated suspension must agree well with the uncertain rolling resistance in practice. To overcome this special underactuated problem with dynamic equilibrium, we present an adaptive control scheme to enhance the ground adaptability using hierarchical sliding mode approach. The control method can drive the spherical robot to a desired position, and at the same time, the suspension subsystem holds on their dynamic equilibrium points rapidly. The proposed control approaches are verified to be effective by numerical simulation for a spherical robot to achieve satisfactory control performances, such as ground adaptability, rapid convergence, and disturbance rejection. Copyright (C) 2013 John Wiley & Sons, Ltd.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据