Balance and velocity control of a novel spherical robot with structural asymmetry

DOI10.1080/00207721.2021.1933253MaRDI QIDQ5029112zbMATH OpenOpenAlexFDO

Authors Lufeng Zhang, Xuemei Ren, Qing Guo

Publication date 11 February 2022

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2021.1933253

zbMATH Keywords

spherical robotadaptive hierarchical sliding mode controlbalance and velocity controlstructural asymmetryunderactuated subsystems

Mathematics Subject Classification ID

Variable structure systems (93B12) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 1944880 (Why is no real title available?)
• scientific article; zbMATH DE number 3388090 (Why is no real title available?)
• Adaptive control of an underactuated spherical robot with a dynamic stable equilibrium point using hierarchical sliding mode approach
• Controlled motion of a spherical robot with feedback. II.
• Effective position-posture control strategy based on switching control for planar three-link underactuated mechanical system
• Modeling and nonlinear coordination control for an underactuated dual overhead crane system
• Optimal Control of Underactuated Nonholonomic Mechanical Systems
• Robust adaptive path-following control of underactuated marine vessel with off-track error constraint
• Robust adaptive tracking control of an underactuated ship with guaranteed transient performance
• Semi-globally exponential trajectory tracking for a class of spherical robots
• Stable control strategy for a second-order nonholonomic planar underactuated mechanical system

Cited in

(4)

• Observer-based sliding mode control for path tracking of a spherical robot
• Dynamics of a spherical robot with variable moments of inertia and a displaced center of mass
• Balancing and Transferring Control of a Ball Segway Using a Double-Loop Approach [Applications of Control]
• Enhanced locomotion of a spherical robot based on the sea-urchin characteristics

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