Abstract
The development of the spherical robot to meet the requirements of high-speed and high-precision tasks is of great importance. In this study, a fractional-order adaptive integral hierarchical sliding mode controller (F-AIHSMC) is proposed. F-AIHSMC enables the spherical robot to have better controlled performance when facing unknown disturbances and system chattering, which can seriously affect the high-speed and high-precision motion of the spherical robot. We establish the standard dynamic model of the spherical robot for high-speed linear motion first, and then use the feedforward compensation method to compensate the controllable influencing factors in the motion process. According to the standard dynamic model, the integral term and fractional calculus methods are integrated into the hierarchical sliding mode controller, and the adaptive method is used to evaluate and compensate unknown disturbances in the high-speed motion process. In order to verify the efficiency of the proposed F-AIHSMC, we test its control effect using the BYQ-GS spherical robot. The experimental results demonstrate that, compared with the classical hierarchical sliding mode controller and the adaptive hierarchical sliding mode controller, the F-AIHSMC has obvious advantages in response speed, convergence speed, stability and robustness when being applied to the control of high-speed linear motion of spherical robot. Moreover, the advantages of its control performance are more highlighted with the increase of the speed of the spherical robot.
Highlights
The spherical robot is a new type of mobile robot that moves based on the eccentric torque and inertial force generated by the internal drive mechanism
FRACTIONAL-ORDER ADAPTIVE INTEGRAL HIERARCHICAL SLIDING MODE CONTROLLER (F-AIHSMC) Facing the precise control problem of the spherical robot system in high-speed linear motion state, we introduce the idea of feedforward control
EXPERIMENTAL STUDIES In order to verify the effectiveness of the F-AIHSMC, we used the BYQ-GS spherical robot to carry out the experiment of high-speed linear motion
Summary
The spherical robot is a new type of mobile robot that moves based on the eccentric torque and inertial force generated by the internal drive mechanism. We study the control method for the linear motion of the spherical robot under high-speed motion state using the spherical robot driven by the eccentric torque driving mechanism based on weight pendulum. As a typical under-actuated system, the spherical robot driven by the eccentric torque driving mechanism based on weight pendulum needs to face both internal and external disturbances during actual movement, which make the control of the spherical robot much more complicated. For the spherical robot with high-speed and realtime requirement, the impact of a large number of uncertain factors in the actual motion environment and the impact of the defects of the control method in the state of low-speed motion on the precise and stable motion of the spherical robot will amplify rapidly, which makes it difficult for the above controllers to achieve the expected motion accuracy.
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