Abstract
Spherical mobile robot (spherical robot in short) has remarkable stability, flexible motion as well as significant advantages in the exploration of unmanned environments when compared with traditional mobile robots. However, as a special under-actuated nonholonomic system spherical robot cannot be transformed to the classic chained form and is difficult to control. At present, there has not been a kinematics based trajectory tracking controller which could track both the position states and the attitude states of spherical robot simultaneously. This paper deduced a three states (two position states and one attitude state) trajectory tracking controller using sliding-mode control method and based on the kinematic model of a spherical mobile robot BHQ-1. The jittering on the sliding surface was reduced under the effect of a saturation function in the controller. The effectiveness of the proposed trajectory tracking controller were verified through MATLAB simulations for both a linear trajectory and a circular trajectory.
Published Version
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