Sliding Mode Control of Pendulum-Driven Spherical Robots
2012 ◽
Vol 591-593
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pp. 1519-1522
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Keyword(s):
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.
2021 ◽
pp. 014233122110598
Keyword(s):
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2016 ◽
Vol 231
(6)
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pp. 1022-1034
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Keyword(s):
2011 ◽
Vol 468
(2138)
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pp. 395-414
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1997 ◽
Vol 122
(1)
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pp. 108-113
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