scholarly journals Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator

2013 ◽  
pp. 507-520 ◽  
Author(s):  
T. B. Ivanova ◽  
◽  
E. N. Pivovarova ◽  
Keyword(s):  
Spherical Robot ◽  
Dynamics And Control ◽  
And Control

Sliding Mode Control of Pendulum-Driven Spherical Robots

2012 ◽  
Vol 591-593 ◽  
pp. 1519-1522 ◽  
Author(s):  
Tao Yu ◽  
Han Xu Sun ◽  
Qing Xuan Jia ◽  
Yan Heng Zhang ◽  
Wei Zhao
Keyword(s):  
Dynamic Model ◽  
Sliding Mode ◽  
Longitudinal Motion ◽  
Lyapunov Analysis ◽  
Spherical Robot ◽  
Hierarchical Sliding Mode ◽  
Dynamics And Control ◽  
Mathematical Techniques ◽  
The Stability ◽  
And Control

In this paper, the dynamics and control aspects of longitudinal motion of pendulum-driven spherical robots are investigated. A simplified dynamic model is established for a spherical robot, which is an underactuated mechanical system. Based on this dynamic model, a hierarchical sliding mode controller is proposed. The stability of the whole system is verified through Lyapunov analysis, and the asymptotic stability of the sub-sliding surfaces is proved with mathematical techniques. The validity of the proposed controller is illustrated through a simulation study.

Spherical robot of combined type: Dynamics and control

2015 ◽  
Vol 20 (6) ◽  
pp. 716-728 ◽  
Author(s):  
Alexander A. Kilin ◽  
Elena N. Pivovarova ◽  
Tatyana B. Ivanova
Keyword(s):  
Spherical Robot ◽  
Dynamics And Control ◽  
And Control

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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