Longitudinal Motion Controlling for a Spherical Rolling Robot with Soft Shell Based 
on Feedback Linearization

In this paper, we derive the dynamics of a spherical rolling robot, called BYQ-III, rolling without slipping on an inclined plane through the constrained Lagrange method. We present a state space realization of this constrained system, and develop a control algorithm for stabilizing the robot to track a desired trajectory on the inclined plane based on input-output feedback linearization. The validity of the proposed control scheme is then verified through simulation study.

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Kinetic Model for a Spherical Rolling Robot with Soft Shell in a Beeline Motion

Journal of Multimedia ◽

10.4304/jmm.9.2.223-229 ◽

2014 ◽

Vol 9 (2) ◽

Cited By ~ 2

Author(s):

Sheng Zhang ◽

Xiang Fang ◽

Shouqiang Zhou ◽

Kai Du

Keyword(s):

Kinetic Model ◽

Soft Shell ◽

Rolling Robot

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Control Algorithms of the Longitude Motion of the Powered Paraglider

Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control ◽

10.1115/esda2012-82545 ◽

2012 ◽

Cited By ~ 8

Author(s):

Yannick Aoustin ◽

Yuri Martynenko

Keyword(s):

Feedback Linearization ◽

Degrees Of Freedom ◽

Vertical Plane ◽

Rigid Bodies ◽

Longitudinal Motion ◽

Partial Feedback Linearization ◽

Partial Feedback ◽

Actual Direction ◽

Motion Characteristics ◽

Nonlinear Control Law

The design of remotely controlled and autonomous Unmanned Aerial Vehicles (UAVs) is an actual direction in modern aircraft development. A promising aircraft of this type is a powered paraglider (PPG). In this paper, a new mathematical model is suggested for the paraglider’s longitudinal motion aimed at the study of PPG dynamics and the synthesis of its automatic control. PPG under consideration is composed of a wing (canopy) and a load (gondola) with propelling unit. The PPG mechanical model is constructed as the system of two rigid bodies connected by an elastic joint with four degrees of freedom that executes a 2D motion in a vertical plane. The details of PPG’s motion characteristics including steady-states regimes and its stability have been studied. A nonlinear control law, based on the partial feedback linearization, has been designed for the thrust of PPG. Simulation results are analyzed. Simulation tests show that the internal dynamics are stable near the steady-state flight regime.

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Modeling and control of a spherical rolling robot: a decoupled dynamics approach

Robotica ◽

10.1017/s0263574711000956 ◽

2011 ◽

Vol 30 (4) ◽

pp. 671-680 ◽

Cited By ~ 50

Author(s):

Erkan Kayacan ◽

Zeki Y. Bayraktaroglu ◽

Wouter Saeys

Keyword(s):

Feedback Linearization ◽

Equations Of Motion ◽

Longitudinal Axis ◽

Radius Of Curvature ◽

Modeling And Control ◽

Modeling Analysis ◽

Highly Nonlinear ◽

Nonlinear Equations Of Motion ◽

And Control ◽

Rolling Robot

SUMMARYThis paper presents the results of a study on the dynamical modeling, analysis, and control of a spherical rolling robot. The rolling mechanism consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transverse and longitudinal axis. The kinematics of the model has been investigated through the classical methods with rotation matrices. Dynamic modeling of the system is based on the Euler–Lagrange formalism. Nonholonomic and highly nonlinear equations of motion have then been decomposed into two simpler subsystems through the decoupled dynamics approach. A feedback linearization loop with fuzzy controllers has been designed for the control of the decoupled dynamics. Rolling of the controlled mechanism over linear and curvilinear trajectories has been simulated by using the proposed decoupled dynamical model and feedback controllers. Analysis of radius of curvature over curvilinear trajectories has also been investigated.

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