Spherical robot with electromagnetic drive: modeling and control

DOI10.20537/ND251102MaRDI QIDQ6844667zbMATH OpenFDO

Authors Dmitry V. Balandin, Alexander M. Tuzikov, Ruslan S. Biryukov, A. V. Polovinkin

Publication date 13 March 2026

Published in Russian Journal of Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.20537/ND251102

zbMATH Keywords

control torqueKirchhoff equationslinearized regulatoroptimal controlquasi-stationary electromagnetic interaction

Mathematics Subject Classification ID

Mathematical modeling or simulation for problems pertaining to mechanics of particles and systems (70-10) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Technical applications of optics and electromagnetic theory (78A55) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• Controlled motion of a spherical robot with feedback. I
• Finite-horizon multi-objective generalized \(H_2\) control with transients
• Geometric Controllability and Stabilization of Spherical Robot Dynamics
• Multi-objective generalized \(H_2\) control
• Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments
• Spherical Robots: An Up-to-Date Overview of Designs and Features
• Stabilization of the motion of a spherical robot using feedbacks

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