Motion Control of a Spherical Mobile Robot by Feedback Linearization

被引：17
|
作者：
Liu, Daliang [1 ]
Sun, Hanxv [1 ]
Jia, Qingxuan [1 ]
Wang, Liangqing [2 ]
机构：
[1] Beijing Univ Posts & Telecommun, Dept Automat, Beijing 100876, Peoples R China
[2] Beijing Univ Aeronaut & Astronaut, Beijing 100873, Peoples R China
来源：
2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年
基金：
中国国家自然科学基金;
关键词：
Spherical Mobile Robot; Motion Control; Feedback Linearization;
D O I：
10.1109/WCICA.2008.4593051
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
BYQ-III is a spherical mobile robot. This paper deals with the problem of its simple motion control in a fixed motion mode. The robot BYQ-III is designed to be partially self-contained. A simplified dynamic model of the rotation motion in the median sagital plane is derived under some assumptions. A full-state linear feedback controller for the dynamic model and a PI controller are designed to implement the motion control in the median coronal plane and the sagital plane respectively. The model and the controllers were validated through a set of experiments. Experimental trajectories for a circle of the robot on the plane were found to agree to a reasonable accuracy. The overall design, actuator mechanism, control system, and initial results are presented in this paper.
引用
收藏
页码：965 / +
页数：2
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