This paper deals with a trajectory tracking problem for the ball-pendulum system, a spherical rolling robot driven by a two degree of freedom pendulum. The backstepping technique is applied and first tested on the hoop-pendulum system, a planar case of the ball-pendulum. By mimicking the backstepping process of the planar case, a feedback controller for the ball-pendulum system is then proposed, tracking motion trajectories for both the position and orientation of the spherical shell of the rolling robot. The validity of the constructed tracking controller is demonstrated by establishing the asymptotic stability of the error dynamics for the closed-loop system. The performance of the controller is verified under simulations for tracking linear and circular motions.
|Title of host publication
|IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - Nov 28 2016
|2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016 → Oct 14 2016
|IEEE International Conference on Intelligent Robots and Systems
|2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
|Korea, Republic of
|10/9/16 → 10/14/16
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications