Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot
Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques t...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/3129398 |
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| author | Majid Taheri Andani Zahra Ramezani Saeed Moazami Jinde Cao Mohammad Mehdi Arefi Hassan Zargarzadeh |
| author_facet | Majid Taheri Andani Zahra Ramezani Saeed Moazami Jinde Cao Mohammad Mehdi Arefi Hassan Zargarzadeh |
| author_sort | Majid Taheri Andani |
| collection | DOAJ |
| description | Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques that allow it to take angles about the robot’s transverse and longitudinal axes. Due to mechanical technicalities, it is assumed that these angles are immeasurable. First, a neural network observer is designed to estimate the pendulum angles. Then a modified sliding mode controller is proposed for the robot’s tracking control in the presence of uncertainties. Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors. Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches. |
| format | Article |
| id | doaj-art-184f282f6eb54c27a070be1574aa8333 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-184f282f6eb54c27a070be1574aa83332025-02-03T01:10:17ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/31293983129398Observer-Based Sliding Mode Control for Path Tracking of a Spherical RobotMajid Taheri Andani0Zahra Ramezani1Saeed Moazami2Jinde Cao3Mohammad Mehdi Arefi4Hassan Zargarzadeh5Phillip M. Drayer Electrical Engineering Department, Lamar University, Beaumont, TX, USAElectrical Engineering Department, Iran University of Science and Technology, Tehran, IranPhillip M. Drayer Electrical Engineering Department, Lamar University, Beaumont, TX, USASchool of Mathematics, Southeast University, Nanjing 210096, ChinaDepartment of Power and Control Engineering, School of Electrical and Computer Engineering, Shiraz University, Shiraz 71348-51154, IranPhillip M. Drayer Electrical Engineering Department, Lamar University, Beaumont, TX, USADue to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques that allow it to take angles about the robot’s transverse and longitudinal axes. Due to mechanical technicalities, it is assumed that these angles are immeasurable. First, a neural network observer is designed to estimate the pendulum angles. Then a modified sliding mode controller is proposed for the robot’s tracking control in the presence of uncertainties. Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors. Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches.http://dx.doi.org/10.1155/2018/3129398 |
| spellingShingle | Majid Taheri Andani Zahra Ramezani Saeed Moazami Jinde Cao Mohammad Mehdi Arefi Hassan Zargarzadeh Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot Complexity |
| title | Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot |
| title_full | Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot |
| title_fullStr | Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot |
| title_full_unstemmed | Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot |
| title_short | Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot |
| title_sort | observer based sliding mode control for path tracking of a spherical robot |
| url | http://dx.doi.org/10.1155/2018/3129398 |
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