Abstract

This paper considers the problems of design and implementation of trajectory tracking control of a spherical inverted pendulum with an omni-directional mobile robot. The control objective is to control the robot to track the desired translational trajectory with desired orientation while maintaining the inverted pendulum in its upright position. The mathematical models of the spherical pendulum and omnidirectional mobile robot are given to facilitate the control analysis and design. Based on linear output regulation, and inverse dynamics, a tracking controller is designed to achieve asymptotic trajectory and orientation tracking. The designed control law is implemented on a digital signal processor and tested on an experimental apparatus. The effectiveness of the designed control scheme is validated through experimental studies. The results show that the robot is able to track the reference trajectory and reference orientation while balancing the inverted pendulum.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.